abb_staubli_planning.world
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1 
3 [INCLUDE]
4  robot_abb: "abb_irb_6640.world"
5 
6 [INCLUDE]
7  robot_staubli: "staubli_rx160.world"
8 
9 [CONSTANTS]
10  R:=0.05
11 
12 [LINKS]
13  bar: cylinder R (-1,0,0) (1.5,0,0) blue
14  dummy1
15  dummy2
16  dummy3
17 
18  hole: body "bodies/box_with_hole.off"
19 
20 [JOINTS]
21  // fix the Staubli robo w.r.t. the ABB robot
22  fix: robot_abb::base_link robot_staubli::base_link Txyz(2.5,-0.75,0)
23 
24  // fix the bar to the ABB end-effector
25  fix: robot_abb::tool0 bar Tx(R/2)*Rz(pi/2)
26 
27  // fix the bar to the Staubli end-effector
28  fix: robot_staubli::tool0 bar Ry(pi/2)*Tx(-R)*Ty(0.5)*Rz(pi/2)
29 
30  // fix the hole w.r.t. the ABB robot base
31  fix: robot_abb::base_link hole Txyz(1.5,0.5,0.5)
32 
33  // constraint the bar motions so that it can only translate (no rotation allowed)
34  prismatic: robot_abb::base_link (0,0,0)+(1,0,0) dummy1 (0,0,0)+(1,0,0) range [0,2]
35  prismatic: dummy1 (0,0,0)+(0,1,0) dummy2 (0,0,0)+(0,1,0) range [-2,2]
36  prismatic: dummy2 (0,0,0)+(0,0,1) dummy3 (0,0,0)+(0,0,1) range [0,2]
37  fix: dummy3 bar Rz(pi/2)
38 
39 [COLLISIONS]
40  do not check: all
41  check: bar,hole
42