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pr2test2.env.xml
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pr2test2.env.xml
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<!-- Project room filled with tables and an object -->
<!-- tables will be ikeatable.kinbody.xml -->
<!-- object will be TibitsBox.kinbody.xml -->
<!-- Total tables in the room : 6 -->
<!-- Total object : 1 -->
<!-- Overall Size(m): 8 x 4 -->
<Environment>
<bkgndcolor>1 1 1</bkgndcolor>
<camtrans>5.327509 -3.765386 5.225026</camtrans>
<camrotationaxis>-0.916210 -0.318647 0.242947 138.160983</camrotationaxis>
<KinBody name="ProjectRoom">
<!-- Floor Dimension(m): 8 x 4 x 0.2 -->
<Body name="Floor" type="static">
<Geom type="box">
<Extents>4.0 2.0 0.1</Extents>
<Translation>0.0 0.0 -0.1</Translation>
<diffuseColor>0.7 0.7 0.7</diffuseColor>
</Geom>
</Body>
<!-- Front Wall Dimension(m): 0.2 x 3.6 x 0.2 -->
<Body name="SideWall1" type="static">
<offsetfrom>Floor</offsetfrom>
<Geom type="box">
<Extents>0.1 1.8 0.1</Extents>
<Translation>3.9 0.0 0.1</Translation>
<diffuseColor>1.0 0.5 0.0</diffuseColor>
</Geom>
</Body>
<!-- Back Wall Dimension(m): 0.2 x 3.6 x 0.2 -->
<Body name="SideWall2" type="static">
<offsetfrom>Floor</offsetfrom>
<Geom type="box">
<Extents>0.1 1.8 0.1</Extents>
<Translation>-3.9 0.0 0.1</Translation>
<diffuseColor>1.0 0.5 0.0</diffuseColor>
</Geom>
</Body>
<!-- Left Side Wall Dimension(m): 8.0 x 0.2 x 0.2 -->
<Body name="SideWall3" type="static">
<offsetfrom>Floor</offsetfrom>
<Geom type="box">
<Extents>4.0 0.1 0.1</Extents>
<Translation>0.0 1.9 0.1</Translation>
<diffuseColor>1.0 0.5 0.0</diffuseColor>
</Geom>
</Body>
<!-- Right Side Wall Dimension(m): 8.0 x 0.2 x 0.2 -->
<Body name="SideWall4" type="static">
<offsetfrom>Floor</offsetfrom>
<Geom type="box">
<Extents>4.0 0.1 0.1</Extents>
<Translation>0.0 -1.9 0.1</Translation>
<diffuseColor>1.0 0.5 0.0</diffuseColor>
</Geom>
</Body>
<!-- Middle Wall Dimension(m): 0.2 x 3.6 x 2.5 -->
<Body name="MidWall" type="static">
<offsetfrom>Floor</offsetfrom>
<!-- Dimension: 0.2 x 2.47 x 2.0 -->
<Geom type="box">
<Extents>0.1 1.235 1.0</Extents>
<Translation>0.8 -0.565 1.0</Translation>
<diffuseColor>1.0 0.5 0.0</diffuseColor>
</Geom>
<!-- Dimension: 0.2 x 0.3 x 2.0 -->
<Geom type="box">
<Extents>0.1 0.15 1.0</Extents>
<Translation>0.8 1.65 1.0</Translation>
<diffuseColor>1.0 0.5 0.0</diffuseColor>
</Geom>
<!-- Dimension: 0.2 x 3.6 x 0.5 -->
<Geom type="box">
<Extents>0.1 1.8 0.25</Extents>
<Translation>0.8 0.0 2.25</Translation>
<diffuseColor>1.0 0.5 0.0</diffuseColor>
</Geom>
</Body>
</KinBody>
<KinBody name="Table1" file="data/ikeatable.kinbody.xml">
<RotationAxis>0 0 1 90</RotationAxis>
<Translation>-2.3 -0.3 0.74</Translation>
</KinBody>
<KinBody name="Table2" file="data/ikeatable.kinbody.xml">
<RotationAxis>0 0 1 90</RotationAxis>
<Translation>-2.3 0.3 0.74</Translation>
</KinBody>
<KinBody name="Table3" file="data/ikeatable.kinbody.xml">
<RotationAxis>0 0 1 90</RotationAxis>
<Translation>-1.1 -0.3 0.74</Translation>
</KinBody>
<KinBody name="Table4" file="data/ikeatable.kinbody.xml">
<RotationAxis>0 0 1 90</RotationAxis>
<Translation>-1.1 0.3 0.74</Translation>
</KinBody>
<KinBody name="Table5" file="data/ikeatable.kinbody.xml">
<Translation>3.5 -1.2 0.74</Translation>
</KinBody>
<KinBody name="Table6" file="data/ikeatable.kinbody.xml">
<Translation>3.5 1.2 0.74</Translation>
</KinBody>
<KinBody name="TibitsBox1">
<Translation>3.5 -1.3 0.74</Translation>
<Body type="dynamic">
<Mass type="mimicgeom">
<total>0.285</total>
</Mass>
<!-- Reference point will be at the base of the box -->
<Geom type="box">
<Extents>0.025 0.0935 0.066</Extents>
<Translation>0 0 0.066</Translation>
<diffuseColor>0.0 1.0 0.0</diffuseColor>
</Geom>
</Body>
</KinBody>
<Robot name="PR2" file="robots/pr2-beta-static.zae">
<translation>-3.4 -1.4 0.05</translation>
</Robot>
</Environment>