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hw3.env.xml
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hw3.env.xml
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<Environment>
<camtrans>0.930986 -1.233453 2.412977</camtrans>
<camrotationaxis>-0.946522 -0.231893 0.224324 122.297980</camrotationaxis>
<Robot file="robots/pr2-beta-static.zae" name="PR2">
<translation>-0.8 0.14 0.01</translation>
</Robot>
<KinBody name="floorwalls">
<Body type="static">
<Translation>0 0 0</Translation>
<Geom type="box">
<extents>2.5 2.5 0.005</extents>
<translation>0 0 -0.005</translation>
<diffuseColor>.6 .6 .6</diffuseColor>
<ambientColor>0.6 0.6 0.6</ambientColor>
</Geom>
<Geom type="box">
<extents>2.5 0.01 0.2</extents>
<translation>0 -2.5 0.2</translation>
<diffuseColor>.6 .6 .6</diffuseColor>
<ambientColor>0.6 0.6 0.6</ambientColor>
</Geom>
<Geom type="box">
<extents>2.5 0.01 0.2</extents>
<translation>0 2.5 0.2</translation>
<diffuseColor>.6 .6 .6</diffuseColor>
<ambientColor>0.6 0.6 0.6</ambientColor>
</Geom>
<Geom type="box">
<extents>0.01 2.5 0.2</extents>
<translation>2.5 0 0.2</translation>
<diffuseColor>.6 .6 .6</diffuseColor>
<ambientColor>0.6 0.6 0.6</ambientColor>
</Geom>
<Geom type="box">
<extents>0.01 2.5 0.2</extents>
<translation>-2.5 0 0.2</translation>
<diffuseColor>.6 .6 .6</diffuseColor>
<ambientColor>0.6 0.6 0.6</ambientColor>
</Geom>
</Body>
</KinBody>
<KinBody name="pole">
<translation>-0.312 0.416 1</translation>
<Body type="static">
<Geom type="box">
<extents>0.05 0.05 1</extents>
<diffuseColor>1 .2 .2</diffuseColor>
</Geom>
</Body>
</KinBody>
<KinBody name="pole2">
<translation>1.3 0.6 1</translation>
<Body type="static">
<Geom type="box">
<extents>0.05 0.05 1</extents>
<diffuseColor>1 .2 .2</diffuseColor>
</Geom>
</Body>
</KinBody>
<KinBody name="pole3">
<translation>0.8 -0.9 1</translation>
<Body type="static">
<Geom type="box">
<extents>0.05 0.05 1</extents>
<diffuseColor>1 .2 .2</diffuseColor>
</Geom>
</Body>
</KinBody>
<KinBody name="wall1">
<Translation>-0.173 -0.247 0</Translation>
<Body type="static">
<Geom type="box">
<Translation>-0.735 -0.80 0.675</Translation>
<extents>0.07 0.71 0.73</extents>
<diffuseColor>.64 .64 .64</diffuseColor>
</Geom>
<Geom type="box">
<Translation>-1.235 -0.46 0.7</Translation>
<extents>0.54 0.35 0.06</extents>
<diffuseColor>.64 .64 .64</diffuseColor>
</Geom>
<Geom type="box">
<Translation>-1.235 -0.76 0.675</Translation>
<extents>0.54 0.06 0.71</extents>
<diffuseColor>.64 .64 .64</diffuseColor>
</Geom>
</Body>
</KinBody>
<KinBody file="data/segway.kinbody.xml">
<Translation>-0.0671 -0.0819 0.755</Translation>
</KinBody>
<KinBody name="mug1" file="data/mug1.kinbody.xml">
<Translation> -0.0568 -0.2406 0.7550</Translation>
</KinBody>
<KinBody name="mug2" file="data/mug1.kinbody.xml">
<Translation>-0.02 0.15 0.7550</Translation>
</KinBody>
<KinBody name="mug3" file="data/mug1.kinbody.xml">
<Translation>0.0854 -0.0769 0.7550</Translation>
</KinBody>
<KinBody name="mug4" file="data/mug1.kinbody.xml">
<Translation>-0.23 -0.1446 0.7550</Translation>
</KinBody>
<KinBody name="mug5" file="data/mug1.kinbody.xml">
<Translation>-0.1 -0.0151 0.7550</Translation>
</KinBody>
<KinBody name="mug6" file="data/mug1.kinbody.xml">
<Translation>-0.2 0.11 0.7550</Translation>
</KinBody>
<KinBody name="dishwasher_table" file="data/table_washer.kinbody.xml">
<Translation>-0.4966 1.0164 0.7479</Translation>
</KinBody>
<KinBody name="table">
<Translation>-0.4966 1.0164 0.9</Translation>
<body name="base">
<geom type="box">
<translation>0 0.2 0</translation>
<extents>0.2 0.01 0.01</extents>
</geom>
<geom type="box">
<translation>0 -0.2 0</translation>
<extents>0.2 0.01 0.01</extents>
</geom>
</body>
</KinBody>
</Environment>