pr2_table_simple.world
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1 
2 [CONSTANTS]
3 
4 DEG2RAD:=PI/180
5 
6 [LINKS]
7 
8 world
9 
10 
11 table_bases: body "bodies/table_simple" color (0.25,0.25,0)
12  cylinder 0.03 (0.8,-0.5,0) (0.8,-0.5,0.8) blue
13  cylinder 0.03 (0.8,0.5,0) (0.8,0.5,0.8) blue
14  cylinder 0.03 (1.3,-0.5,0) (1.3,-0.5,0.8) blue
15  cylinder 0.03 (1.3,0.5,0) (1.3,0.5,0.8) blue
16  body "bodies/plane.off" yellow % color (0.8,0.8,0.8) decoration
17 
18 
19  box_object: body "bodies/box1.off"
20  box_virtual
21 
22  base_footprint: body "bodies/base_link.off" white
23 
24  base: body "bodies/base_link.off" white
25 
26  laser_tilt: body "bodies/laser_tilt_mount_link.off" white
27 
28  wheel_rotation_1: body "bodies/bl_caster_rotation_link.off" white
29  wheel_1_left: body "bodies/bl_caster_l_wheel_link.off" black
30  wheel_1_right: body "bodies/bl_caster_r_wheel_link.off" black
31 
32  wheel_rotation_2: body "bodies/br_caster_rotation_link.off" white
33  wheel_2_left: body "bodies/br_caster_l_wheel_link.off" black
34  wheel_2_right: body "bodies/br_caster_r_wheel_link.off" black
35 
36  wheel_rotation_3: body "bodies/fl_caster_rotation_link.off" white
37  wheel_3_left: body "bodies/fl_caster_l_wheel_link.off" black
38  wheel_3_right: body "bodies/fl_caster_r_wheel_link.off" black
39 
40  wheel_rotation_4: body "bodies/fr_caster_rotation_link.off" white
41  wheel_4_left: body "bodies/fr_caster_l_wheel_link.off" black
42  wheel_4_right: body "bodies/fr_caster_r_wheel_link.off" black
43 
44  torso: body "bodies/torso_lift_link.off" white
45 
46  head_pan: body "bodies/head_pan_link.off" white
47  head_tilt: body "bodies/head_tilt_link.off" white
48 
49  l_shoulder_pan : body "bodies/l_shoulder_pan_link.off" white
50  l_shoulder_lift: body "bodies/l_shoulder_lift_link.off" white
51  l_upper_arm_roll: body "bodies/l_upper_arm_roll_link.off" white
52  l_upper_arm: body "bodies/l_upper_arm_link.off" white
53  l_elbow_flex: body "bodies/l_elbow_flex_link.off" white
54  l_forearm_roll: body "bodies/l_forearm_roll_link.off" white
55  l_forearm: body "bodies/l_forearm_link.off" white
56  l_wrist_flex: body "bodies/l_wrist_flex_link.off" white
57  l_wrist_roll: body "bodies/l_wrist_roll_link.off" white
58  l_gripper_palm: body "bodies/l_gripper_palm_link.off" white
59  l_gripper_l_finger: body "bodies/l_gripper_l_finger_link.off" white
60  l_gripper_l_finger_tip: body "bodies/l_gripper_l_finger_tip_link.off" white
61  l_gripper_r_finger: body "bodies/l_gripper_r_finger_link.off" white
62  l_gripper_r_finger_tip: body "bodies/l_gripper_r_finger_tip_link.off" white
63 
64 
65  r_shoulder_pan : body "bodies/r_shoulder_pan_link.off" white
66  r_shoulder_lift: body "bodies/r_shoulder_lift_link.off" white
67  r_upper_arm_roll: body "bodies/r_upper_arm_roll_link.off" white
68  r_upper_arm: body "bodies/r_upper_arm_link.off" white
69  r_elbow_flex: body "bodies/r_elbow_flex_link.off" white
70  r_forearm_roll: body "bodies/r_forearm_roll_link.off" white
71  r_forearm: body "bodies/r_forearm_link.off" white
72  r_wrist_flex: body "bodies/r_wrist_flex_link.off" white
73  r_wrist_roll: body "bodies/r_wrist_roll_link.off" white
74  r_gripper_palm: body "bodies/r_gripper_palm_link.off" white
75  r_gripper_l_finger: body "bodies/r_gripper_l_finger_link.off" white
76  r_gripper_l_finger_tip: body "bodies/r_gripper_l_finger_tip_link.off" white
77  r_gripper_r_finger: body "bodies/r_gripper_r_finger_link.off" white
78  r_gripper_r_finger_tip: body "bodies/r_gripper_r_finger_tip_link.off" white
79 
80 [JOINTS]
81 
82  FIX: world base_footprint Id
83 
84  FIX: base_footprint base
85  Txyz(0,0,0.051)
86 
87  FIX: torso laser_tilt
88  Txyz (0.09893,0,0.227)% (0.275,0,0.252)
89 
90  FIX: torso head_pan
91  Txyz(-0.01707,0,0.38145)
92 
93  FIX: head_pan head_tilt
94  Txyz(0.068,0,0)
95 
96  /* Wheels */
97  FIX: base wheel_rotation_1
98  Txyz (-0.2246,0.2246,0.0282)
99  FIX: wheel_rotation_1 wheel_1_left
100  Txyz(0,0.049,0)
101  FIX: wheel_rotation_1 wheel_1_right
102  Txyz(0,-0.049,0)
103 
104  FIX: base wheel_rotation_2
105  Txyz (-0.2246,-0.2246,0.0282)
106  FIX: wheel_rotation_2 wheel_2_left
107  Txyz(0,0.049,0)
108  FIX: wheel_rotation_2 wheel_2_right
109  Txyz(0,-0.049,0)
110 
111  FIX: base wheel_rotation_3
112  Txyz (0.2246,0.2246,0.0282)
113  FIX: wheel_rotation_3 wheel_3_left
114  Txyz(0,0.049,0)
115  FIX: wheel_rotation_3 wheel_3_right
116  Txyz(0,-0.049,0)
117 
118  FIX: base wheel_rotation_4
119  Txyz (0.2246,-0.2246,0.0282)
120  FIX: wheel_rotation_4 wheel_4_left
121  Txyz(0,0.049,0)
122  FIX: wheel_rotation_4 wheel_4_right
123  Txyz(0,-0.049,0)
124 
125  /* Torso and arms (with grippers) */
126  FIX: base torso
127  Txyz(-0.05,0,0.839675)
128 % Txyz(-0.05,0,0.739675)
129 % PRISMATIC: base (-0.05,0,0.739675)+(0,0,1)
130 % torso (0,0,0)+(0,0,1)
131 % range [0,0.31]
132 
133  % FIX: torso l_shoulder_pan
134  % Txyz(0,0.188,0)*Rz(Pi/2)
135  REVOLUTE: torso (0,0.188,0)+(0,0,1)
136  l_shoulder_pan (0,0,0)+(0,0,1)
137  range [-40.9437*DEG2RAD,130.944*DEG2RAD]
138  +(1,0,0)
139  +(1,0,0)
140 
141  % FIX: l_shoulder_pan l_shoulder_lift
142  % Txyz(0.1,0,0)*Ry(Pi/4)
143  REVOLUTE: l_shoulder_pan (0.1,0,0)+(0,1,0)
144  l_shoulder_lift (0,0,0)+(0,1,0)
145  range [-30.0001*DEG2RAD,80.0021*DEG2RAD]
146  +(1,0,0)
147  +(1,0,0)
148 
149  % FIX: l_shoulder_lift l_upper_arm_roll
150  % Rx(Pi)
151  REVOLUTE: l_shoulder_lift (0,0,0)+(1,0,0)
152  l_upper_arm_roll (0,0,0)+(1,0,0)
153  range [-45.8366*DEG2RAD,223.454*DEG2RAD]
154  +(0,1,0)
155  +(0,1,0)
156 
157  FIX: l_upper_arm_roll l_upper_arm
158  Id
159 
160  % FIX: l_upper_arm l_elbow_flex
161  % Txyz(0.4,0,0)*Ry(-Pi/4)
162  REVOLUTE: l_upper_arm (0.4,0,0)+(0,1,0)
163  l_elbow_flex (0,0,0)+(0,1,0)
164  range [-133.001*DEG2RAD,0*DEG2RAD]
165  +(1,0,0)
166  +(1,0,0)
167 
168  % FIX: l_elbow_flex l_forearm_roll
169  % Id
170  REVOLUTE: l_elbow_flex (0,0,0)+(1,0,0)
171  l_forearm_roll (0,0,0)+(1,0,0)
172 
173  FIX: l_forearm_roll l_forearm
174  Id
175 
176  % FIX: l_forearm l_wrist_flex
177  % Txyz(0.321,0,0)
178  REVOLUTE: l_forearm (0.321,0,0)+(0,1,0)
179  l_wrist_flex (0,0,0)+(0,1,0)
180  range [-124.905*DEG2RAD,0*DEG2RAD]
181  +(1,0,0)
182  +(1,0,0)
183 
184  % FIX: l_wrist_flex l_wrist_roll
185  % Id
186  REVOLUTE: l_wrist_flex (0,0,0)+(1,0,0)
187  l_wrist_roll (0,0,0)+(1,0,0)
188 
189  FIX: l_wrist_roll l_gripper_palm
190  Id
191 
192  FIX: l_gripper_palm l_gripper_l_finger
193  Txyz(0.07691,0.01,0)% *Rz(pi/20)
194  % REVOLUTE: l_gripper_palm (0.07691,0.01,0)+(0,0,1)
195  % l_gripper_l_finger (0,0,0)+(0,0,1)
196  % range [0*DEG2RAD,31.3981*DEG2RAD]
197  % +(1,0,0)
198  % +(1,0,0)
199 
200  FIX: l_gripper_l_finger l_gripper_l_finger_tip
201  Txyz(0.09137,0.00495,0)
202  % CREVOLUTE: l_gripper_l_finger (0.09137,0.00495,0)+(0,0,-1)
203  % l_gripper_l_finger_tip (0,0,0)+(0,0,-1)
204  % range [0*DEG2RAD,31.3981*DEG2RAD]
205 % +(1,0,0)
206 % +(1,0,0)
207 
208  FIX: l_gripper_palm l_gripper_r_finger
209  Txyz(0.07691,-0.01,0)*Rx(pi) %*Rz(pi/20) % !!!
210  % CREVOLUTE: l_gripper_palm (0.07691,-0.01,0)+(0,0,-1)
211  % l_gripper_r_finger (0,0,0)+(0,0,1)
212  % range [0*DEG2RAD,31.3981*DEG2RAD]
213  % +(1,0,0)
214  % +(1,0,0)
215 
216  FIX: l_gripper_r_finger l_gripper_r_finger_tip
217  Txyz(0.09137,-0.00495,0)
218 % CREVOLUTE: l_gripper_r_finger (0.09137,0.00495,0)+(0,0,-1)
219  % l_gripper_r_finger_tip (0,0,0)+(0,0,-1)
220  % range [0*DEG2RAD,31.3981*DEG2RAD]
221  % +(1,0,0)
222  % +(1,0,0)
223 
224 
225  % FIX: torso r_shoulder_pan
226  % Txyz(0,-0.188,0)
227  REVOLUTE: torso (0,-0.188,0)+(0,0,1)
228  r_shoulder_pan (0,0,0)+(0,0,1)
229  range [-130.944*DEG2RAD,40.9437*DEG2RAD]
230  +(1,0,0)
231  +(1,0,0)
232 
233  % FIX: r_shoulder_pan r_shoulder_lift
234  % Txyz(0.1,0,0)
235  REVOLUTE: r_shoulder_pan (0.1,0,0)+(0,1,0)
236  r_shoulder_lift (0,0,0)+(0,1,0)
237  range [-30.0001*DEG2RAD,80.0021*DEG2RAD]
238  +(1,0,0)
239  +(1,0,0)
240 
241  % FIX: r_shoulder_lift r_upper_arm_roll
242  % Id
243  REVOLUTE: r_shoulder_lift (0,0,0)+(1,0,0)
244  r_upper_arm_roll (0,0,0)+(1,0,0)
245  range [-223.454*DEG2RAD,45.8366*DEG2RAD]
246  +(0,1,0)
247  +(0,1,0)
248 
249  FIX: r_upper_arm_roll r_upper_arm
250  Id
251 
252  % FIX: r_upper_arm r_elbow_flex
253  % Txyz(0.4,0,0)
254  REVOLUTE: r_upper_arm (0.4,0,0)+(0,1,0)
255  r_elbow_flex (0,0,0)+(0,1,0)
256  range [-133.001*DEG2RAD,0*DEG2RAD]
257  +(1,0,0)
258  +(1,0,0)
259 
260  % FIX: r_elbow_flex r_forearm_roll
261  % Id
262  REVOLUTE: r_elbow_flex (0,0,0)+(1,0,0)
263  r_forearm_roll (0,0,0)+(1,0,0)
264 
265  FIX: r_forearm_roll r_forearm
266  Id
267 
268  % FIX: r_forearm r_wrist_flex
269  % Txyz(0.321,0,0)
270  REVOLUTE: r_forearm (0.321,0,0)+(0,1,0)
271  r_wrist_flex (0,0,0)+(0,1,0)
272  range [-124.905*DEG2RAD,0*DEG2RAD]
273  +(1,0,0)
274  +(1,0,0)
275 
276  % FIX: r_wrist_flex r_wrist_roll
277  % Id
278  REVOLUTE: r_wrist_flex (0,0,0)+(1,0,0)
279  r_wrist_roll (0,0,0)+(1,0,0)
280 
281  FIX: r_wrist_roll r_gripper_palm
282  Id
283 
284  FIX: r_gripper_palm r_gripper_l_finger
285  Txyz(0.07691,0.01,0)*Rz(pi/18)
286 % REVOLUTE: r_gripper_palm (0.07691,0.01,0)+(0,0,1)
287  % r_gripper_l_finger (0,0,0)+(0,0,1)
288  % range [0*DEG2RAD,31.3981*DEG2RAD]
289  % +(1,0,0)
290  % +(1,0,0)
291  % range [0*DEG2RAD,31.3981*DEG2RAD]
292  % +(1,0,0)
293  % +(1,0,0)
294 
295  FIX: r_gripper_l_finger r_gripper_l_finger_tip
296  Txyz(0.09137,0.00495,0)
297 %CREVOLUTE: r_gripper_l_finger (0.09137,0.00495,0)+(0,0,-1)
298 % r_gripper_l_finger_tip (0,0,0)+(0,0,-1)
299  % range [0*DEG2RAD,31.3981*DEG2RAD]
300  % +(1,0,0)
301  % +(1,0,0)
302 
303  FIX: r_gripper_palm r_gripper_r_finger
304  Txyz(0.07691,-0.01,0)*Rx(pi)*Rz(pi/18) % !!!
305  %CREVOLUTE: r_gripper_palm (0.07691,-0.01,0)+(0,0,-1)
306  % r_gripper_r_finger (0,0,0)+(0,0,1)
307  % range [0*DEG2RAD,31.3981*DEG2RAD]
308  % +(1,0,0)
309  % +(1,0,0)
310 
311  FIX: r_gripper_r_finger r_gripper_r_finger_tip
312  Txyz(0.09137,-0.00495,0)
313  % CREVOLUTE: r_gripper_r_finger (0.09137,0.00495,0)+(0,0,-1)
314  % r_gripper_r_finger_tip (0,0,0)+(0,0,-1)
315  % range [0*DEG2RAD,31.3981*DEG2RAD]
316  % +(1,0,0)
317  % +(1,0,0)
318 
319 
320 FIX: world table_bases Id
321 prismatic: world (0,0,0)+(1,0,0) box_virtual (0,0,0)+(1,0,0)
322 range [-0.5,2]
323 
324 prismatic: box_virtual (0,0,0)+(0,0,1) box_object (0,0,0)+(0,0,1)
325 range [-0.5,2]
326 
327 FIX: r_wrist_roll box_object Rx(Pi/2)*Txyz(0.4,0,-0.1)*Rz(-Pi/2)
328 
329 FIX: l_wrist_roll box_object Rx(-Pi/2)*Txyz(0.4,0,-0.1)*Rz(Pi/2)
330 
331 [COLLISIONS]
332 
333 Check : table_bases, box_object
334 
335 Check: base_footprint, box_object
336 Check: base, box_object
337 Check: laser_tilt, box_object
338 Check: wheel_rotation_1, box_object
339 Check: wheel_1_left, box_object
340 Check: wheel_1_right, box_object
341 Check: wheel_rotation_2, box_object
342 Check: wheel_2_left, box_object
343 Check: wheel_2_right, box_object
344 Check: wheel_rotation_3, box_object
345 Check: wheel_3_left, box_object
346 Check: wheel_3_right, box_object
347 Check: wheel_rotation_4, box_object
348 Check: wheel_4_left, box_object
349 Check: wheel_4_right, box_object
350 Check: torso, box_object
351 Check: head_pan, box_object
352 Check: head_tilt, box_object
353 
354 Check : l_shoulder_pan, box_object
355 Check : l_shoulder_lift, box_object
356 Check : l_upper_arm_roll, box_object
357 Check : l_upper_arm, box_object
358 Check : l_elbow_flex, box_object
359 Check : l_forearm_roll, box_object
360 Check : l_forearm, box_object
361 Check : l_wrist_flex, box_object
362 Check : l_wrist_roll, box_object
363 
364 Check : r_shoulder_pan, box_object
365 Check : r_shoulder_lift, box_object
366 Check : r_upper_arm_roll, box_object
367 Check : r_upper_arm, box_object
368 Check : r_elbow_flex, box_object
369 Check : r_forearm_roll, box_object
370 Check : r_forearm, box_object
371 Check : r_wrist_flex, box_object
372 Check : r_wrist_roll, box_object
373 
374 Check : torso, box_object
375 
376 Check : l_wrist_roll, table_bases
377 Check : l_shoulder_pan, table_bases
378 Check : l_shoulder_lift, table_bases
379 Check : l_upper_arm_roll, table_bases
380 Check : l_upper_arm, table_bases
381 Check : l_elbow_flex, table_bases
382 Check : l_forearm_roll, table_bases
383 Check : l_forearm, table_bases
384 Check : l_wrist_flex, table_bases
385 Check : l_wrist_roll, table_bases
386 
387 Check : r_wrist_roll, table_bases
388 Check : r_shoulder_pan, table_bases
389 Check : r_shoulder_lift, table_bases
390 Check : r_upper_arm_roll, table_bases
391 Check : r_upper_arm, table_bases
392 Check : r_elbow_flex, table_bases
393 Check : r_forearm_roll, table_bases
394 Check : r_forearm, table_bases
395 Check : r_wrist_flex, table_bases
396 Check : r_wrist_roll, table_bases
397 
#define DEG2RAD
Constant to transform from degrees to radiants.
Definition: defines.h:169