youBot.world
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1 
3 [CONSTANTS]
4 
5 deg2rad:=pi/180
6 
7 [LINKS]
8 
9 world: body "bodies/plane.off" color(0.9,0.9,0.9)
10 
11 wb1
12 wb2
13 
14 base: body "bodies/base_frame.off" color (0,0,0)
15 
16 frw : body "bodies/front-right_wheel.off" color (0.619,0.346,0.035)
17 flw : body "bodies/front-left_wheel.off" color (0.619,0.346,0.035)
18 brw : body "bodies/back-right_wheel.off" color (0.619,0.346,0.035)
19 blw : body "bodies/back-left_wheel.off" color (0.619,0.346,0.035)
20 
21 plate: body "bodies/plate.off" color (1,1,1)
22 
23 arm_base: body "bodies/arm_base_frame.off" color (0,0,0)
24 
25 arm_joint1: body "bodies/arm_joint_1.off" color (0.619,0.346,0.035)
26 
27 arm_joint2: body "bodies/arm_joint_2.off" color (0.619,0.346,0.035)
28 
29 arm_joint3: body "bodies/arm_joint_3.off" color (0.619,0.346,0.035)
30 
31 arm_joint4: body "bodies/arm_joint_4.off" color (0.619,0.346,0.035)
32 
33 arm_joint5: body "bodies/arm_joint_5.off" color (0,0,0)
34 
35 gripper_base: body "bodies/gripper_base_frame.off" color (0,0,0)
36 
37 left_finger: body "bodies/gripper_left_finger.off" color (1,1,1)
38 
39 right_finger: body "bodies/gripper_right_finger.off" color (1,1,1)
40 
41 [JOINTS]
42 
43 prismatic: world (0,0,0) (1,0,0)
44  wb1 (0,0,0) (1,0,0)
45  range [-1,1]
46 
47 prismatic: wb1 (0,0,0) (0,1,0)
48  wb2 (0,0,0) (0,1,0)
49  range [-1,1]
50 
51 revolute: wb2 (0,0,0) (0,0,1)
52  base (0,0,0) (0,0,1)
53 
54 fix: base frw Txyz( 0.228,-0.158,-0.034)
55 fix: base flw Txyz( 0.228, 0.158,-0.034)
56 fix: base brw Txyz(-0.228,-0.158,-0.034)
57 fix: base blw Txyz(-0.228, 0.158,-0.034)
58 
59 fix: base arm_base Txyz(0.143,0,0.046)
60 
61 fix: base plate Txyz(-0.159,0,0.046)
62 
63 revolute: arm_base (0.024,0,0.115)+(0,0,-1)
64  arm_joint1 (0,0,0)+(0,0,1)
65  range [-169*deg2rad,169*deg2rad] +(1,0,0) +(1,0,0)
66 
67 revolute: arm_joint1 (0.033,0,0)+(0,-1,0)
68  arm_joint2 (0,0,0)+(0,0,1)
69  range [-65*deg2rad,90*deg2rad] +(1,0,0) +(0,1,0)
70 
71 revolute: arm_joint2 (0.155,0,0)+(0,0,1)
72  arm_joint3 (0,0,0)+(0,0,1)
73  range [-151*deg2rad,146*deg2rad] +(1,0,0) +(0,1,0)
74 
75 revolute: arm_joint3 (0,0.135,0)+(0,0,1)
76  arm_joint4 (0,0,0)+(0,0,1)
77  range [-102.5*deg2rad,102.5*deg2rad] +(1,0,0) +(1,0,0)
78 
79 revolute: arm_joint4 (0,0.1136,0)+(0,1,0)
80  arm_joint5 (0,0,0)+(0,0,1)
81  range [-165*deg2rad,165*deg2rad] +(1,0,0) +(1,0,0)
82 
83 fix: arm_joint5 gripper_base Txyz(0,0,0.05716)*Rz(180*deg2rad)
84 
85 prismatic: gripper_base (0,0.0082,0) +(0,1,0)
86  left_finger (0,0,0) +(0,0,1)
87  range [0,0.0125]
88 
89 prismatic: gripper_base (0,-0.0082,0) +(0,-1,0)
90  right_finger (0,0,0) +(0,0,1)
91  range [0,0.0125]
92