baxter_box.world
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1 
5 [INCLUDE]
6 
7  //Import the Baxter robot
8  robot: "baxter.world"
9 
10 [LINKS]
11 
12  // now define the scene: a table with two boxes. The objective is
13  // to put the small box into a larger box.
14 
15  // a small green box
16  small_box: box (-0.1,-0.05,0)+(0.2,0.5,0.1) green
17 
18  // dummy links to constraint the motion of the green box
19  dummy1
20  dummy2
21  dummy3
22 
23  // a table with a large brown box.
24  table: box (0.3,-1,-0.025) (1.25,1,0) black
25  cylinder 0.025 (0.35,-0.9,-0.025) (0.35,-0.9,-1) blue
26  cylinder 0.025 (0.35, 0.9,-0.025) (0.35, 0.9,-1) blue
27  cylinder 0.025 (1.20,-0.9,-0.025) (1.20,-0.9,-1) blue
28  cylinder 0.025 (1.20, 0.9,-0.025) (1.20, 0.9,-1) blue
29 
30  box (0.5,0.15,0)+(0.3,0.6,0.01) color (0.803,0.498,0.196)
31  box (0.5,0.15,0)+(0.3,0.01,0.15) color (0.803,0.498,0.196)
32  box (0.5,0.75,0)+(0.3,0.01,0.15) color (0.803,0.498,0.196)
33  box (0.5,0.15,0)+(0.01,0.6,0.15) color (0.803,0.498,0.196)
34  box (0.8,0.15,0)+(0.01,0.6,0.15) color (0.803,0.498,0.196)
35 
36 [JOINTS]
37 
38  // The table (with the brown box) is fixed with respect to the robot
39  fix: robot::base table ID
40 
41  // The green box is fixed with respect to the robot arms
42  fix: robot::right_hand small_box Txyz(0,0,0)
43  fix: robot::left_hand small_box Txyz(0,-0.4,0)
44 
45  // The green box can not be tilted (can not rotate but only translate)
46  prismatic: robot::base (0,0,0)+(1,0,0) dummy1 (0,0,0)+(1,0,0) range [0,1.5]
47  prismatic: dummy1 (0,0,0)+(0,1,0) dummy2 (0,0,0)+(0,1,0) range [-1,1]
48  prismatic: dummy2 (0,0,0)+(0,0,1) dummy3 (0,0,0)+(0,0,1) range [-0.5,1]
49  fix: dummy3 small_box Ry(pi)
50 
51 [COLLISIONS]
52  do not check: all
53 
54  check: small_box,table
55 
56  check: robot::screen,robot::right_upper_shoulder
57  check: robot::screen,robot::right_lower_shoulder
58  check: robot::screen,robot::right_upper_elbow
59  check: robot::screen,robot::right_lower_elbow
60  check: robot::screen,robot::right_upper_forearm
61  check: robot::screen,robot::right_wrist
62  check: robot::screen,robot::right_hand
63 
64  check: robot::screen,robot::left_upper_shoulder
65  check: robot::screen,robot::left_lower_shoulder
66  check: robot::screen,robot::left_upper_elbow
67  check: robot::screen,robot::left_lower_elbow
68  check: robot::screen,robot::left_upper_forearm
69  check: robot::screen,robot::left_wrist
70  check: robot::screen,robot::left_hand
71 
72 /* add the constraints betwee Baxter and the box. */
73