abb_planning.world

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[INCLUDE] 
  robot: "abb_irb_6640.world"

[CONSTANTS]
  R:=0.05

[LINKS]
   bar: cylinder R (-0.5,0,0) (1.5,0,0) blue
   dummy1
   dummy2
   dummy3

   hole: body "bodies/box_with_hole.off"

[JOINTS]
   // fix the bar to the end-effector
   fix: robot::tool0 bar Tx(R/2)*Rz(pi/2)

   // fix the hole w.r.t. the robot base
   fix: robot::base_link hole Txyz(1.5,0.5,0.5)
   
   // constraint the bar motions so that it can only translate (no rotation allowed)
   prismatic: robot::base_link (0,0,0)+(1,0,0) dummy1 (0,0,0)+(1,0,0) range [0,2]
   prismatic: dummy1 (0,0,0)+(0,1,0) dummy2 (0,0,0)+(0,1,0) range [-2,2]
   prismatic: dummy2 (0,0,0)+(0,0,1) dummy3 (0,0,0)+(0,0,1) range [0,2]
   fix: dummy3 bar Rz(pi/2)

[COLLISIONS]
   do not check: all
   check: bar,hole