pr2_fridge.world
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1 
2 [CONSTANTS]
3 
4 DEG2RAD:=PI/180
5 
6 [LINKS]
7 
8  world
9 
10  fridge_base: body "bodies/Fridge/friA-01.off"
11  body "bodies/Fridge/friA-02.off"
12  body "bodies/Fridge/friA-03.off"
13  body "bodies/Fridge/friA-04.off"
14 
15 
16 fridge_door: body "bodies/Fridge/friB-01.off"
17  body "bodies/Fridge/friB-02.off"
18  body "bodies/Fridge/friB-03.off"
19 
20 
21  base_footprint: body "bodies/base_link.off" white
22  %body "bodies/friA_01.off"
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  FIX: world fridge_base Rz(Pi/2)
82 
83 revolute: fridge_base (-0.3,-0.8,0)+(0,0,1) fridge_door(-0.3,-0.8,0)+(0,0,1)
84  range [0,2.3]
85  +(1,0,0)
86  +(1,0,0)
87 
88  FIX: world base_footprint Id
89 
90  FIX: base_footprint base
91  Txyz(0,0,0.051)
92 
93  FIX: torso laser_tilt
94  Txyz (0.09893,0,0.227)% (0.275,0,0.252)
95 
96  FIX: torso head_pan
97  Txyz(-0.01707,0,0.38145)
98 
99  FIX: head_pan head_tilt
100  Txyz(0.068,0,0)
101 
102  /* Wheels */
103  FIX: base wheel_rotation_1
104  Txyz (-0.2246,0.2246,0.0282)
105  FIX: wheel_rotation_1 wheel_1_left
106  Txyz(0,0.049,0)
107  FIX: wheel_rotation_1 wheel_1_right
108  Txyz(0,-0.049,0)
109 
110  FIX: base wheel_rotation_2
111  Txyz (-0.2246,-0.2246,0.0282)
112  FIX: wheel_rotation_2 wheel_2_left
113  Txyz(0,0.049,0)
114  FIX: wheel_rotation_2 wheel_2_right
115  Txyz(0,-0.049,0)
116 
117  FIX: base wheel_rotation_3
118  Txyz (0.2246,0.2246,0.0282)
119  FIX: wheel_rotation_3 wheel_3_left
120  Txyz(0,0.049,0)
121  FIX: wheel_rotation_3 wheel_3_right
122  Txyz(0,-0.049,0)
123 
124  FIX: base wheel_rotation_4
125  Txyz (0.2246,-0.2246,0.0282)
126  FIX: wheel_rotation_4 wheel_4_left
127  Txyz(0,0.049,0)
128  FIX: wheel_rotation_4 wheel_4_right
129  Txyz(0,-0.049,0)
130 
131  /* Torso and arms (with grippers) */
132  % FIX: base torso
133  % Txyz(-0.05,0,0.739675)
134  PRISMATIC: base (-0.05,0,0.739675)+(0,0,1)
135  torso (0,0,0)+(0,0,1)
136  range [0,0.31]
137 
138  FIX: torso l_shoulder_pan
139  Txyz(0,0.188,0)*Rz(Pi/2)
140  %REVOLUTE: torso (0,0.188,0)+(0,0,1)
141  % l_shoulder_pan (0,0,0)+(0,0,1)
142  % range [-40.9437*DEG2RAD,130.944*DEG2RAD]
143  % +(1,0,0)
144  % +(1,0,0)
145 
146  FIX: l_shoulder_pan l_shoulder_lift
147  Txyz(0.1,0,0)*Ry(Pi/4)
148 % REVOLUTE: l_shoulder_pan (0.1,0,0)+(0,1,0)
149  % l_shoulder_lift (0,0,0)+(0,1,0)
150  % range [-30.0001*DEG2RAD,80.0021*DEG2RAD]
151  % +(1,0,0)
152  % +(1,0,0)
153 
154  FIX: l_shoulder_lift l_upper_arm_roll
155  Rx(Pi)
156  % REVOLUTE: l_shoulder_lift (0,0,0)+(1,0,0)
157  % l_upper_arm_roll (0,0,0)+(1,0,0)
158  % range [-45.8366*DEG2RAD,223.454*DEG2RAD]
159  % +(0,1,0)
160  % +(0,1,0)
161 
162  FIX: l_upper_arm_roll l_upper_arm
163  Id
164 
165  FIX: l_upper_arm l_elbow_flex
166  Txyz(0.4,0,0)*Ry(-Pi/4)
167  % REVOLUTE: l_upper_arm (0.4,0,0)+(0,1,0)
168  % l_elbow_flex (0,0,0)+(0,1,0)
169  % range [-133.001*DEG2RAD,0*DEG2RAD]
170  % +(1,0,0)
171  % +(1,0,0)
172 
173  FIX: l_elbow_flex l_forearm_roll
174  Id
175  % REVOLUTE: l_elbow_flex (0,0,0)+(1,0,0)
176  % l_forearm_roll (0,0,0)+(1,0,0)
177 
178  FIX: l_forearm_roll l_forearm
179  Id
180 
181  FIX: l_forearm l_wrist_flex
182  Txyz(0.321,0,0)
183  %REVOLUTE: l_forearm (0.321,0,0)+(0,1,0)
184  % l_wrist_flex (0,0,0)+(0,1,0)
185  % range [-124.905*DEG2RAD,0*DEG2RAD]
186  % +(1,0,0)
187  % +(1,0,0)
188 
189  FIX: l_wrist_flex l_wrist_roll
190  Id
191  % REVOLUTE: l_wrist_flex (0,0,0)+(1,0,0)
192  % l_wrist_roll (0,0,0)+(1,0,0)
193 
194  FIX: l_wrist_roll l_gripper_palm
195  Id
196 
197  FIX: l_gripper_palm l_gripper_l_finger
198  Txyz(0.07691,0.01,0)
199  % REVOLUTE: l_gripper_palm (0.07691,0.01,0)+(0,0,1)
200  % l_gripper_l_finger (0,0,0)+(0,0,1)
201  % range [0*DEG2RAD,31.3981*DEG2RAD]
202  % +(1,0,0)
203  % +(1,0,0)
204 
205  FIX: l_gripper_l_finger l_gripper_l_finger_tip
206  Txyz(0.09137,0.00495,0)
207  % CREVOLUTE: l_gripper_l_finger (0.09137,0.00495,0)+(0,0,-1)
208  % l_gripper_l_finger_tip (0,0,0)+(0,0,-1)
209  % range [0*DEG2RAD,31.3981*DEG2RAD]
210 % +(1,0,0)
211 % +(1,0,0)
212 
213  FIX: l_gripper_palm l_gripper_r_finger
214  Txyz(0.07691,-0.01,0)*Rx(pi) % !!!
215  % CREVOLUTE: l_gripper_palm (0.07691,-0.01,0)+(0,0,-1)
216  % l_gripper_r_finger (0,0,0)+(0,0,1)
217  % range [0*DEG2RAD,31.3981*DEG2RAD]
218  % +(1,0,0)
219  % +(1,0,0)
220 
221  FIX: l_gripper_r_finger l_gripper_r_finger_tip
222  Txyz(0.09137,-0.00495,0)
223 % CREVOLUTE: l_gripper_r_finger (0.09137,0.00495,0)+(0,0,-1)
224  % l_gripper_r_finger_tip (0,0,0)+(0,0,-1)
225  % range [0*DEG2RAD,31.3981*DEG2RAD]
226  % +(1,0,0)
227  % +(1,0,0)
228 
229 
230  % FIX: torso r_shoulder_pan
231  % Txyz(0,-0.188,0)
232  REVOLUTE: torso (0,-0.188,0)+(0,0,1)
233  r_shoulder_pan (0,0,0)+(0,0,1)
234  range [-130.944*DEG2RAD,40.9437*DEG2RAD]
235  +(1,0,0)
236  +(1,0,0)
237 
238  % FIX: r_shoulder_pan r_shoulder_lift
239  % Txyz(0.1,0,0)
240  REVOLUTE: r_shoulder_pan (0.1,0,0)+(0,1,0)
241  r_shoulder_lift (0,0,0)+(0,1,0)
242  range [-30.0001*DEG2RAD,80.0021*DEG2RAD]
243  +(1,0,0)
244  +(1,0,0)
245 
246  % FIX: r_shoulder_lift r_upper_arm_roll
247  % Id
248  REVOLUTE: r_shoulder_lift (0,0,0)+(1,0,0)
249  r_upper_arm_roll (0,0,0)+(1,0,0)
250  range [-223.454*DEG2RAD,45.8366*DEG2RAD]
251  +(0,1,0)
252  +(0,1,0)
253 
254  FIX: r_upper_arm_roll r_upper_arm
255  Id
256 
257  % FIX: r_upper_arm r_elbow_flex
258  % Txyz(0.4,0,0)
259  REVOLUTE: r_upper_arm (0.4,0,0)+(0,1,0)
260  r_elbow_flex (0,0,0)+(0,1,0)
261  range [-133.001*DEG2RAD,0*DEG2RAD]
262  +(1,0,0)
263  +(1,0,0)
264 
265  % FIX: r_elbow_flex r_forearm_roll
266  % Id
267  REVOLUTE: r_elbow_flex (0,0,0)+(1,0,0)
268  r_forearm_roll (0,0,0)+(1,0,0)
269 
270  FIX: r_forearm_roll r_forearm
271  Id
272 
273  % FIX: r_forearm r_wrist_flex
274  % Txyz(0.321,0,0)
275  REVOLUTE: r_forearm (0.321,0,0)+(0,1,0)
276  r_wrist_flex (0,0,0)+(0,1,0)
277  range [-124.905*DEG2RAD,0*DEG2RAD]
278  +(1,0,0)
279  +(1,0,0)
280 
281  % FIX: r_wrist_flex r_wrist_roll
282  % Id
283  REVOLUTE: r_wrist_flex (0,0,0)+(1,0,0)
284  r_wrist_roll (0,0,0)+(1,0,0)
285 
286  FIX: r_wrist_roll r_gripper_palm
287  Id
288 
289  FIX: r_gripper_palm r_gripper_l_finger
290  Txyz(0.07691,0.01,0)*Rz(pi/18)
291 % REVOLUTE: r_gripper_palm (0.07691,0.01,0)+(0,0,1)
292  % r_gripper_l_finger (0,0,0)+(0,0,1)
293  % range [0*DEG2RAD,31.3981*DEG2RAD]
294  % +(1,0,0)
295  % +(1,0,0)
296  % range [0*DEG2RAD,31.3981*DEG2RAD]
297  % +(1,0,0)
298  % +(1,0,0)
299 
300  FIX: r_gripper_l_finger r_gripper_l_finger_tip
301  Txyz(0.09137,0.00495,0)
302 %CREVOLUTE: r_gripper_l_finger (0.09137,0.00495,0)+(0,0,-1)
303 % r_gripper_l_finger_tip (0,0,0)+(0,0,-1)
304  % range [0*DEG2RAD,31.3981*DEG2RAD]
305  % +(1,0,0)
306  % +(1,0,0)
307 
308  FIX: r_gripper_palm r_gripper_r_finger
309  Txyz(0.07691,-0.01,0)*Rx(pi)*Rz(pi/18) % !!!
310  %CREVOLUTE: r_gripper_palm (0.07691,-0.01,0)+(0,0,-1)
311  % r_gripper_r_finger (0,0,0)+(0,0,1)
312  % range [0*DEG2RAD,31.3981*DEG2RAD]
313  % +(1,0,0)
314  % +(1,0,0)
315 
316  FIX: r_gripper_r_finger r_gripper_r_finger_tip
317  Txyz(0.09137,-0.00495,0)
318  % CREVOLUTE: r_gripper_r_finger (0.09137,0.00495,0)+(0,0,-1)
319  % r_gripper_r_finger_tip (0,0,0)+(0,0,-1)
320  % range [0*DEG2RAD,31.3981*DEG2RAD]
321  % +(1,0,0)
322  % +(1,0,0)
323 
324 revolute: r_wrist_roll (0.18,0,0)+(0,0,1) fridge_door(0.225,-0.748,0.93)+(0,0,1)
325 
DEG2RAD
#define DEG2RAD
Constant to transform from degrees to radiants.
Definition: defines.h:169