Part 2 (Joints):
https://www.youtube.com/watch?v=i0a7K0zAOX0&t=3s
Download V-REP PRO EDU:
http://www.coppeliarobotics.com/downloads.html
In this video series you will learn how to build a crane from scratch. The content will cover basic modelling, simulation and how to create your own GUI.
