world_xml_dir: pick-exp1.env.xml
robot:  denso
    
# Define object to transport
objects:

  - name: object3
    object_profile: westone
    object_attach_to: denso_suction_cup2
    contact_profile: bigcup_bluenb_1608823082
    T_link_object:
      - [0, -1, 0, 0e-3]
      - [-1, 0, 0, 0]
      - [0, 0, -1, 28.5e-3]
      - [0, 0, 0, 1]
    T_start: 
      - [0, -1, 0, 0.551]
      - [1, 0, 0, -0.357]
      - [0, 0, 1, 0.115]
      - [0, 0, 0, 0]
    T_goal:
      - [0, -1, 0, 0.505]
      - [1, 0, 0, +0.41]
      - [0, 0, 1, 0.06]
      - [0, 0, 0, 0]

  - name: object1
    object_profile: kindlebox_light
    object_attach_to: denso_suction_cup2
    contact_profile: bigcup_bluenb_1608823082
    T_link_object:
      - [0, -1, 0, 0e-3]
      - [-1, 0, 0, 0]
      - [0, 0, -1, 25.5e-3]
      - [0, 0, 0, 1]
    T_start: 
      - [0, -1, 0, 0.535]
      - [1, 0, 0, -0.337]
      - [0, 0, 1, 0.061]
      - [0, 0, 0, 0]
    T_goal:
      - [-1, 0, 0, 0.36]
      - [0, -1, 0, +0.4]
      - [0, 0, 1, 0.08]
      - [0, 0, 0, 0]

  - name: object2
    object_profile: bluenb
    object_attach_to: denso_suction_cup2
    contact_profile: bigcup_bluenb_1608823082
    T_link_object:
      - [0, -1, 0, 0]
      - [-1, 0, 0, 0]
      - [0, 0, -1, 12.5e-3]
      - [0, 0, 0, 1]
    T_start: 
      - [0, -1, 0, 0.525]
      - [1, 0, 0, -0.362]
      - [0, 0, 1, 0.042]
      - [0, 0, 0, 0]
    T_goal:
      - [-1, 0, 0, 0.34]
      - [0, -1, 0, +0.4]
      - [0, 0, 1, 0.08]
      - [0, 0, 0, 0]

  - name: object4
    object_profile: carton_box
    object_attach_to: denso_suction_cup2
    contact_profile: bigcup_bluenb_1608823082
    T_link_object:
      - [1, 0, 0, 0e-3]
      - [0, -1, 0, 0]
      - [0, 0, -1, 28.5e-3]
      - [0, 0, 0, 1]
    T_start: 
      - [0.939692620, 0.342020143, 0, 0.531]
      - [-0.342020143, 0.939692620, 0, -0.355]
      - [0, 0, 1, 0.000]
      - [0, 0, 0, 0]

    T_goal:
      - [0, -1, 0, 0.38]
      - [1, 0, 0, +0.40]
      - [0, 0, 1, 0.09]
      - [0, 0, 0, 0]
