FourRX60.world
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1 % Four 6R Serial chain The Staubli-RX60 robots moving a large object.
2 
5 [CONSTANTS]
6 
7  % For puma-like manipulators only 3 of the DH parameters
8  % are relevant.
9  % Here we give those relevant parameters for the RX60 robot (in meters)
10 
11  a2:=0.29
12  d3:=0.049
13  d4:=0.31
14 
15  % Constants below are only relevant for decoration
16 
17  % RX60 color (r,g,b)
18  cr:=0.9
19  cg:=0.6
20  cb:=0.2
21 
22  % For the frame around the robot workspace
23  barRadius := 0.03
24 
25  XLower:=-1+barRadius
26  XUpper:=1-barRadius
27  YLower:=XLower
28  YUpper:=XUpper
29  ZLower:=-0.341
30  ZUpper :=1
31 
32  objectLength:=0.2
33 
34  robotDistance:=1.5
35 
36  objectRadius:=0.015
37 
38 [LINKS]
39 
40  world: color (0,0,1)
41  body "bodies/b1.off" color (0.6,0.6,0.6)
42  body "bodies/box.off" blue
43  body "bodies/bar1.off"
44  body "bodies/bar2.off"
45  body "bodies/bar3.off"
46  body "bodies/bar4.off"
47  body "bodies/plane.off" color (0.8,0.8,0.8) decoration
48  cylinder 0.12 (0,0,0.0+ZLower+0.25) (0,0,0.25+ZLower+0.25) blue
49  sphere 0.12 (0,0,0.25+ZLower+0.25) blue
50 
51  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
52  base_left: body "bodies/S0_rel.off" color (cr,cg,cb)
53 
54  link1_left: color (cr,cg,cb)
55  body "bodies/S1_rel.off"
56  body "bodies/S2_rel.off"
57 
58  link2_left: color (cr,cg,cb)
59  body "bodies/S3_rel.off"
60 
61  link3_left: color (cr,cg,cb)
62  body "bodies/S4_rel.off"
63 
64  link4_left: body "bodies/S5_rel.off" color (cr,cg,cb)
65  body "bodies/S6_rel.off" color (0.75,0.75,0.75)
66 
67  link5_left: color (0.75,0.75,0.75)
68  body "bodies/S7_rel.off"
69 
70  EndEffector_left: color (0.75,0.75,0.75)
71  body "bodies/S8_rel.off"
72 
73 
74  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
75  base_right: body "bodies/S0_rel.off" color (cr,cg,cb)
76 
77  link1_right: color (cr,cg,cb)
78  body "bodies/S1_rel.off"
79  body "bodies/S2_rel.off"
80 
81  link2_right: color (cr,cg,cb)
82  body "bodies/S3_rel.off"
83 
84  link3_right: color (cr,cg,cb)
85  body "bodies/S4_rel.off"
86 
87  link4_right: body "bodies/S5_rel.off" color (cr,cg,cb)
88  body "bodies/S6_rel.off" color (0.75,0.75,0.75)
89 
90  link5_right: color (0.75,0.75,0.75)
91  body "bodies/S7_rel.off"
92 
93  EndEffector_right: color (0.75,0.75,0.75)
94  body "bodies/S8_rel.off"
95 
96 
97  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
98  base_front: body "bodies/S0_rel.off" color (cr,cg,cb)
99 
100  link1_front: color (cr,cg,cb)
101  body "bodies/S1_rel.off"
102  body "bodies/S2_rel.off"
103 
104  link2_front: color (cr,cg,cb)
105  body "bodies/S3_rel.off"
106 
107  link3_front: color (cr,cg,cb)
108  body "bodies/S4_rel.off"
109 
110  link4_front: body "bodies/S5_rel.off" color (cr,cg,cb)
111  body "bodies/S6_rel.off" color (0.75,0.75,0.75)
112 
113  link5_front: color (0.75,0.75,0.75)
114  body "bodies/S7_rel.off"
115 
116  EndEffector_front: color (0.75,0.75,0.75)
117  body "bodies/S8_rel.off"
118 
119  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
120 
121  base_back: body "bodies/S0_rel.off" color (cr,cg,cb)
122 
123  link1_back: color (cr,cg,cb)
124  body "bodies/S1_rel.off"
125  body "bodies/S2_rel.off"
126 
127  link2_back: color (cr,cg,cb)
128  body "bodies/S3_rel.off"
129 
130  link3_back: color (cr,cg,cb)
131  body "bodies/S4_rel.off"
132 
133  link4_back: body "bodies/S5_rel.off" color (cr,cg,cb)
134  body "bodies/S6_rel.off" color (0.75,0.75,0.75)
135 
136  link5_back: color (0.75,0.75,0.75)
137  body "bodies/S7_rel.off"
138 
139  EndEffector_back: color (0.75,0.75,0.75)
140  body "bodies/S8_rel.off"
141 
142  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
143 
144  object: body "bodies/doubleRing4.off" green
145 
146 [JOINTS]
147 
148  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
149 
150  fix: world base_left Tx(-robotDistance/2)
151 
152  revolute: base_left (0,0,0) (0, 0,1)
153  link1_left (0,0,0) (0,-1,0)
154 
155  revolute: link1_left ( 0,0,0) ( 0,0,1)
156  link2_left (-a2,0,0) (-a2,0,1)
157 
158  revolute: link2_left (0,0, 0) (0,0, 1)
159  link3_left (0,d3,0) (0,d3+1,0)
160 
161  revolute: link3_left (0,0, 0) (0, 0, 1)
162  link4_left (0,d4,0) (0,d4-1,0)
163 
164  revolute: link4_left (0,0,0) (0, 0,1)
165  link5_left (0,0,0) (0,-1,0)
166 
167  revolute: link5_left (0,0,0) (0,0,1)
168  EndEffector_left (0,0,0) (0,0,1)
169 
170  fix: EndEffector_left object Tz(0.55)*Rx(Pi/2)*Tz(-0.03)
171 
172  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
173 
174  fix: world base_right Rz(pi)*Tx(-robotDistance/2)
175 
176  revolute: base_right (0,0,0) (0, 0,1)
177  link1_right (0,0,0) (0,-1,0)
178 
179  revolute: link1_right ( 0,0,0) ( 0,0,1)
180  link2_right (-a2,0,0) (-a2,0,1)
181 
182  revolute: link2_right (0,0, 0) (0,0, 1)
183  link3_right (0,d3,0) (0,d3+1,0)
184 
185  revolute: link3_right (0,0, 0) (0, 0, 1)
186  link4_right (0,d4,0) (0,d4-1,0)
187 
188  revolute: link4_right (0,0,0) (0, 0,1)
189  link5_right (0,0,0) (0,-1,0)
190 
191  revolute: link5_right (0,0,0) (0,0,1)
192  EndEffector_right (0,0,0) (0,0,1)
193 
194  fix: EndEffector_right object Tz(0.36+objectLength)*Rx(-Pi/2)*Tz(-0.03)
195 
196  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
197 
198  fix: world base_front Ty(-robotDistance/2)
199 
200  revolute: base_front (0,0,0) (0, 0,1)
201  link1_front (0,0,0) (0,-1,0)
202 
203  revolute: link1_front ( 0,0,0) ( 0,0,1)
204  link2_front (-a2,0,0) (-a2,0,1)
205 
206  revolute: link2_front (0,0, 0) (0,0, 1)
207  link3_front (0,d3,0) (0,d3+1,0)
208 
209  revolute: link3_front (0,0, 0) (0, 0, 1)
210  link4_front (0,d4,0) (0,d4-1,0)
211 
212  revolute: link4_front (0,0,0) (0, 0,1)
213  link5_front (0,0,0) (0,-1,0)
214 
215  revolute: link5_front (0,0,0) (0,0,1)
216  EndEffector_front (0,0,0) (0,0,1)
217 
218  fix: EndEffector_front object Tz(0.36+objectLength)*Ry(Pi/2)*Tz(-0.03)
219 
220  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
221 
222  fix: world base_back Rz(pi)*Ty(-robotDistance/2)
223 
224  revolute: base_back (0,0,0) (0, 0,1)
225  link1_back (0,0,0) (0,-1,0)
226 
227  revolute: link1_back ( 0,0,0) ( 0,0,1)
228  link2_back (-a2,0,0) (-a2,0,1)
229 
230  revolute: link2_back (0,0, 0) (0,0, 1)
231  link3_back (0,d3,0) (0,d3+1,0)
232 
233  revolute: link3_back (0,0, 0) (0, 0, 1)
234  link4_back (0,d4,0) (0,d4-1,0)
235 
236  revolute: link4_back (0,0,0) (0, 0,1)
237  link5_back (0,0,0) (0,-1,0)
238 
239  revolute: link5_back (0,0,0) (0,0,1)
240  EndEffector_back (0,0,0) (0,0,1)
241 
242  fix: EndEffector_back object Tz(0.36+objectLength)*Ry(-Pi/2)*Tz(-0.03)
243 
244  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
245 
246 [COLLISIONS]
247 
248  do not check: all
249 
250  check: object, world
251  check: link1_left, world
252  check: link2_left, world
253  check: link3_left, world
254  check: link4_left, world
255  check: link5_left, world
256 
257  check: link1_right, world
258  check: link2_right, world
259  check: link3_right, world
260  check: link4_right, world
261  check: link5_right, world
262 
263  check: link1_front, world
264  check: link2_front, world
265  check: link3_front, world
266  check: link4_front, world
267  check: link5_front, world
268 
269  check: link1_back, world
270  check: link2_back, world
271  check: link3_back, world
272  check: link4_back, world
273  check: link5_back, world
274