pr2_table.world
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1 
2 [CONSTANTS]
3 
4  DEG2RAD:=PI/180
5 
6 [LINKS]
7 
8  world
9 
10  table_bases: body "bodies/table1" color (0.25,0.25,0)
11  cylinder 0.03 (0.8,-0.5,0) (0.8,-0.5,0.8) blue
12  cylinder 0.03 (0.8,0.5,0) (0.8,0.5,0.8) blue
13  cylinder 0.03 (1.3,-0.5,0) (1.3,-0.5,0.8) blue
14  cylinder 0.03 (1.3,0.5,0) (1.3,0.5,0.8) blue
15  body "bodies/plane.off" yellow % color (0.8,0.8,0.8) decoration
16 
17  moved_box: body "bodies/box1.off"
18 
19  box_virtual
20 
21  base_footprint: body "bodies/base_link.off" white
22 
23  base: body "bodies/base_link.off" white
24 
25  laser_tilt: body "bodies/laser_tilt_mount_link.off" white
26 
27  wheel_rotation_1: body "bodies/bl_caster_rotation_link.off" white
28  wheel_1_left: body "bodies/bl_caster_l_wheel_link.off" black
29  wheel_1_right: body "bodies/bl_caster_r_wheel_link.off" black
30 
31  wheel_rotation_2: body "bodies/br_caster_rotation_link.off" white
32  wheel_2_left: body "bodies/br_caster_l_wheel_link.off" black
33  wheel_2_right: body "bodies/br_caster_r_wheel_link.off" black
34 
35  wheel_rotation_3: body "bodies/fl_caster_rotation_link.off" white
36  wheel_3_left: body "bodies/fl_caster_l_wheel_link.off" black
37  wheel_3_right: body "bodies/fl_caster_r_wheel_link.off" black
38 
39  wheel_rotation_4: body "bodies/fr_caster_rotation_link.off" white
40  wheel_4_left: body "bodies/fr_caster_l_wheel_link.off" black
41  wheel_4_right: body "bodies/fr_caster_r_wheel_link.off" black
42 
43  torso: body "bodies/torso_lift_link.off" white
44 
45  head_pan: body "bodies/head_pan_link.off" white
46  head_tilt: body "bodies/head_tilt_link.off" white
47 
48  l_shoulder_pan : body "bodies/l_shoulder_pan_link.off" white
49  l_shoulder_lift: body "bodies/l_shoulder_lift_link.off" white
50  l_upper_arm_roll: body "bodies/l_upper_arm_roll_link.off" white
51  l_upper_arm: body "bodies/l_upper_arm_link.off" white
52  l_elbow_flex: body "bodies/l_elbow_flex_link.off" white
53  l_forearm_roll: body "bodies/l_forearm_roll_link.off" white
54  l_forearm: body "bodies/l_forearm_link.off" white
55  l_wrist_flex: body "bodies/l_wrist_flex_link.off" white
56  l_wrist_roll: body "bodies/l_wrist_roll_link.off" white
57  l_gripper_palm: body "bodies/l_gripper_palm_link.off" white
58  l_gripper_l_finger: body "bodies/l_gripper_l_finger_link.off" white
59  l_gripper_l_finger_tip: body "bodies/l_gripper_l_finger_tip_link.off" white
60  l_gripper_r_finger: body "bodies/l_gripper_r_finger_link.off" white
61  l_gripper_r_finger_tip: body "bodies/l_gripper_r_finger_tip_link.off" white
62 
63 
64  r_shoulder_pan : body "bodies/r_shoulder_pan_link.off" white
65  r_shoulder_lift: body "bodies/r_shoulder_lift_link.off" white
66  r_upper_arm_roll: body "bodies/r_upper_arm_roll_link.off" white
67  r_upper_arm: body "bodies/r_upper_arm_link.off" white
68  r_elbow_flex: body "bodies/r_elbow_flex_link.off" white
69  r_forearm_roll: body "bodies/r_forearm_roll_link.off" white
70  r_forearm: body "bodies/r_forearm_link.off" white
71  r_wrist_flex: body "bodies/r_wrist_flex_link.off" white
72  r_wrist_roll: body "bodies/r_wrist_roll_link.off" white
73  r_gripper_palm: body "bodies/r_gripper_palm_link.off" white
74  r_gripper_l_finger: body "bodies/r_gripper_l_finger_link.off" white
75  r_gripper_l_finger_tip: body "bodies/r_gripper_l_finger_tip_link.off" white
76  r_gripper_r_finger: body "bodies/r_gripper_r_finger_link.off" white
77  r_gripper_r_finger_tip: body "bodies/r_gripper_r_finger_tip_link.off" white
78 
79 [JOINTS]
80 
81  fix: world base_footprint Id
82 
83  fix: base_footprint base
84  Txyz(0,0,0.051)
85 
86  fix: torso laser_tilt
87  Txyz (0.09893,0,0.227)
88 
89  fix: torso head_pan
90  Txyz(-0.01707,0,0.38145)
91 
92  fix: head_pan head_tilt
93  Txyz(0.068,0,0)
94 
95  /* Wheels */
96  fix: base wheel_rotation_1
97  Txyz (-0.2246,0.2246,0.0282)
98  fix: wheel_rotation_1 wheel_1_left
99  Txyz(0,0.049,0)
100  fix: wheel_rotation_1 wheel_1_right
101  Txyz(0,-0.049,0)
102 
103  fix: base wheel_rotation_2
104  Txyz (-0.2246,-0.2246,0.0282)
105  fix: wheel_rotation_2 wheel_2_left
106  Txyz(0,0.049,0)
107  fix: wheel_rotation_2 wheel_2_right
108  Txyz(0,-0.049,0)
109 
110  fix: base wheel_rotation_3
111  Txyz (0.2246,0.2246,0.0282)
112  fix: wheel_rotation_3 wheel_3_left
113  Txyz(0,0.049,0)
114  fix: wheel_rotation_3 wheel_3_right
115  Txyz(0,-0.049,0)
116 
117  fix: base wheel_rotation_4
118  Txyz (0.2246,-0.2246,0.0282)
119  fix: wheel_rotation_4 wheel_4_left
120  Txyz(0,0.049,0)
121  fix: wheel_rotation_4 wheel_4_right
122  Txyz(0,-0.049,0)
123 
124  /* Torso and arms (with grippers) */
125  fix: base torso
126  Txyz(-0.05,0,0.839675)
127 
128  revolute: torso (0,0.188,0)+(0,0,1)
129  l_shoulder_pan (0,0,0)+(0,0,1)
130  range [-40.9437*DEG2RAD,130.944*DEG2RAD]
131  +(1,0,0)
132  +(1,0,0)
133 
134  revolute: l_shoulder_pan (0.1,0,0)+(0,1,0)
135  l_shoulder_lift (0,0,0)+(0,1,0)
136  range [-30.0001*DEG2RAD,80.0021*DEG2RAD]
137  +(1,0,0)
138  +(1,0,0)
139 
140  revolute: l_shoulder_lift (0,0,0)+(1,0,0)
141  l_upper_arm_roll (0,0,0)+(1,0,0)
142  range [-45.8366*DEG2RAD,223.454*DEG2RAD]
143  +(0,1,0)
144  +(0,1,0)
145 
146  fix: l_upper_arm_roll l_upper_arm
147  Id
148 
149  revolute: l_upper_arm (0.4,0,0)+(0,1,0)
150  l_elbow_flex (0,0,0)+(0,1,0)
151  range [-133.001*DEG2RAD,0*DEG2RAD]
152  +(1,0,0)
153  +(1,0,0)
154 
155  revolute: l_elbow_flex (0,0,0)+(1,0,0)
156  l_forearm_roll (0,0,0)+(1,0,0)
157 
158  fix: l_forearm_roll l_forearm
159  Id
160 
161  revolute: l_forearm (0.321,0,0)+(0,1,0)
162  l_wrist_flex (0,0,0)+(0,1,0)
163  range [-124.905*DEG2RAD,0*DEG2RAD]
164  +(1,0,0)
165  +(1,0,0)
166 
167  revolute: l_wrist_flex (0,0,0)+(1,0,0)
168  l_wrist_roll (0,0,0)+(1,0,0)
169 
170  fix: l_wrist_roll l_gripper_palm
171  Id
172 
173  fix: l_gripper_palm l_gripper_l_finger
174  Txyz(0.07691,0.01,0)
175 
176  fix: l_gripper_l_finger l_gripper_l_finger_tip
177  Txyz(0.09137,0.00495,0)
178 
179  fix: l_gripper_palm l_gripper_r_finger
180  Txyz(0.07691,-0.01,0)*Rx(pi)
181 
182  fix: l_gripper_r_finger l_gripper_r_finger_tip
183  Txyz(0.09137,-0.00495,0)
184 
185  revolute: torso (0,-0.188,0)+(0,0,1)
186  r_shoulder_pan (0,0,0)+(0,0,1)
187  range [-130.944*DEG2RAD,40.9437*DEG2RAD]
188  +(1,0,0)
189  +(1,0,0)
190 
191  revolute: r_shoulder_pan (0.1,0,0)+(0,1,0)
192  r_shoulder_lift (0,0,0)+(0,1,0)
193  range [-30.0001*DEG2RAD,80.0021*DEG2RAD]
194  +(1,0,0)
195  +(1,0,0)
196 
197  revolute: r_shoulder_lift (0,0,0)+(1,0,0)
198  r_upper_arm_roll (0,0,0)+(1,0,0)
199  range [-223.454*DEG2RAD,45.8366*DEG2RAD]
200  +(0,1,0)
201  +(0,1,0)
202 
203  fix: r_upper_arm_roll r_upper_arm
204  Id
205 
206  revolute: r_upper_arm (0.4,0,0)+(0,1,0)
207  r_elbow_flex (0,0,0)+(0,1,0)
208  range [-133.001*DEG2RAD,0*DEG2RAD]
209  +(1,0,0)
210  +(1,0,0)
211 
212  revolute: r_elbow_flex (0,0,0)+(1,0,0)
213  r_forearm_roll (0,0,0)+(1,0,0)
214 
215  fix: r_forearm_roll r_forearm
216  Id
217 
218  revolute: r_forearm (0.321,0,0)+(0,1,0)
219  r_wrist_flex (0,0,0)+(0,1,0)
220  range [-124.905*DEG2RAD,0*DEG2RAD]
221  +(1,0,0)
222  +(1,0,0)
223 
224  revolute: r_wrist_flex (0,0,0)+(1,0,0)
225  r_wrist_roll (0,0,0)+(1,0,0)
226 
227  fix: r_wrist_roll r_gripper_palm
228  Id
229 
230  fix: r_gripper_palm r_gripper_l_finger
231  Txyz(0.07691,0.01,0)*Rz(pi/18)
232 
233  fix: r_gripper_l_finger r_gripper_l_finger_tip
234  Txyz(0.09137,0.00495,0)
235 
236  fix: r_gripper_palm r_gripper_r_finger
237  Txyz(0.07691,-0.01,0)*Rx(pi)*Rz(pi/18)
238 
239  fix: r_gripper_r_finger r_gripper_r_finger_tip
240  Txyz(0.09137,-0.00495,0)
241 
242  fix: world table_bases Id
243 
244  prismatic: world (0,0,0)+(1,0,0)
245  box_virtual (0,0,0)+(1,0,0)
246  range [-0.5,2]
247 
248  prismatic: box_virtual (0,0,0)+(0,0,1)
249  moved_box (0,0,0)+(0,0,1)
250  range [-0.5,2]
251 
252  fix: r_wrist_roll moved_box Rx(Pi/2)*Txyz(0.4,0,-0.1)*Rz(-Pi/2)
253 
254  fix: l_wrist_roll moved_box Rx(-Pi/2)*Txyz(0.4,0,-0.1)*Rz(Pi/2)
255 
256 
257 [COLLISIONS]
258 
259  check : table_bases, moved_box
260 
261  check: base_footprint, moved_box
262  check: base, moved_box
263  check: laser_tilt, moved_box
264  check: wheel_rotation_1, moved_box
265  check: wheel_1_left, moved_box
266  check: wheel_1_right, moved_box
267  check: wheel_rotation_2, moved_box
268  check: wheel_2_left, moved_box
269  check: wheel_2_right, moved_box
270  check: wheel_rotation_3, moved_box
271  check: wheel_3_left, moved_box
272  check: wheel_3_right, moved_box
273  check: wheel_rotation_4, moved_box
274  check: wheel_4_left, moved_box
275  check: wheel_4_right, moved_box
276  check: torso, moved_box
277  check: head_pan, moved_box
278  check: head_tilt, moved_box
279 
280  check : l_shoulder_pan, moved_box
281  check : l_shoulder_lift, moved_box
282  check : l_upper_arm_roll, moved_box
283  check : l_upper_arm, moved_box
284  check : l_elbow_flex, moved_box
285  check : l_forearm_roll, moved_box
286  check : l_forearm, moved_box
287  check : l_wrist_flex, moved_box
288  check : l_wrist_roll, moved_box
289 
290  check : r_shoulder_pan, moved_box
291  check : r_shoulder_lift, moved_box
292  check : r_upper_arm_roll, moved_box
293  check : r_upper_arm, moved_box
294  check : r_elbow_flex, moved_box
295  check : r_forearm_roll, moved_box
296  check : r_forearm, moved_box
297  check : r_wrist_flex, moved_box
298  check : r_wrist_roll, moved_box
299 
300  check : torso, moved_box
301 
302  check : l_wrist_roll, table_bases
303  check : l_shoulder_pan, table_bases
304  check : l_shoulder_lift, table_bases
305  check : l_upper_arm_roll, table_bases
306  check : l_upper_arm, table_bases
307  check : l_elbow_flex, table_bases
308  check : l_forearm_roll, table_bases
309  check : l_forearm, table_bases
310  check : l_wrist_flex, table_bases
311  check : l_wrist_roll, table_bases
312 
313  check : r_wrist_roll, table_bases
314  check : r_shoulder_pan, table_bases
315  check : r_shoulder_lift, table_bases
316  check : r_upper_arm_roll, table_bases
317  check : r_upper_arm, table_bases
318  check : r_elbow_flex, table_bases
319  check : r_forearm_roll, table_bases
320  check : r_forearm, table_bases
321  check : r_wrist_flex, table_bases
322  check : r_wrist_roll, table_bases
323 
324 
DEG2RAD
#define DEG2RAD
Constant to transform from degrees to radiants.
Definition: defines.h:169