

# note: position and orientation are of the transformation of the
# object in the manipulator frame. These two fields are
# deprecated. Programs should now require explicit value of
# T_link_object.

squarewood2:
  description: The square wood block. New.
  attached_to_manipulator: denso_suction_cup2
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  rave_model: objects/kindle_box.xml
  mass: 0.887
  local_inertia:
    - [ 1.72e-3, 0,        0     ]
    - [ 0,        1.82e-3, 0     ]
    - [ 0,        0,       3.22e-3]
  T_object_model:
    - [1, 0, 0, 0]
    - [0, 1, 0, 0]
    - [0, 0, 1, 0.01]
    - [0, 0, 0, 1]
  position: [0, 0, 23.5e-3]
  orientation:
    - [1, 0, 0]
    - [0, -1, 0]
    - [0, 0, -1]

carton_box:
  description: The carton_box, padded with a wooden plate inside.
  rave_model: objects/carton_box.xml
  mass: 0.347
  local_inertia:
    - [ 9.8e-4, 0,        0     ]
    - [ 0,        2.96e-3, 0     ]
    - [ 0,        0,       3.77e-3]
  T_object_model:
    - [1, 0, 0, -0.0065]
    - [0, 1, 0, 0]
    - [0, 0, 1, 0]
    - [0, 0, 0, 1]

westone:
  description: The westone.
  rave_model: objects/westone.xml
  mass: 0.204
  local_inertia:
    - [ 2.38e-4, 0,        0     ]
    - [ 0,        6.02e-4, 0     ]
    - [ 0,        0,       7.56e-4]
  T_object_model:
    - [1, 0, 0, 0]
    - [0, 1, 0, 0]
    - [0, 0, 1, 0]
    - [0, 0, 0, 1]

optitrack_box:
  description: The carton box used to carry an optitrack camera.
  attached_to_manipulator: denso_suction_cup2
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  rave_model: objects/optitrack_box.xml
  mass: 0.224
  local_inertia:
    - [ 1.17e-3, 0,        0     ]
    - [ 0,        1.82e-3, 0     ]
    - [ 0,        0,       3.22e-3]
  T_object_model:
    - [1, 0, 0, 0]
    - [0, 1, 0, 0]
    - [0, 0, 1, 0.01]
    - [0, 0, 0, 1]

squarewood:
  description: The square wood block.
  attached_to_manipulator: denso_suction_cup2
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  rave_model: objects/kindle_box.xml
  mass: 0.551
  local_inertia:
    - [ 1.17e-3, 0,        0     ]
    - [ 0,        1.82e-3, 0     ]
    - [ 0,        0,       3.22e-3]
  T_object_model:
    - [1, 0, 0, 0]
    - [0, 1, 0, 0]
    - [0, 0, 1, 0.01]
    - [0, 0, 0, 1]
  position: [0, 0, 23.5e-3]
  orientation:
    - [1, 0, 0]
    - [0, -1, 0]
    - [0, 0, -1]
# "[[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 23.5e-3], [0, 0, 0, 1]]"

bluenb_safe:
  description: The blue PaperLuxe book.
  attached_to_manipulator: denso_suction_cup2
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  rave_model: objects/bluenb.xml
  mass: 0.6
  local_inertia:
    - [ 10.28e-4, 0,        0     ]
    - [ 0,        2.31e-3, 0     ]
    - [ 0,        0,       3.28e-3]
  T_object_model:
    - [1, 0, 0, 0]
    - [0, 1, 0, 0]
    - [0, 0, 1, 0]
    - [0, 0, 0, 1]

bluenb:
  description: The blue PaperLuxe book.
  attached_to_manipulator: denso_suction_cup2
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  rave_model: objects/bluenb.xml
  mass: 0.551
  local_inertia:
    - [ 9.28e-4, 0,        0     ]
    - [ 0,        2.11e-3, 0     ]
    - [ 0,        0,       2.98e-3]
  T_object_model:
    - [1, 0, 0, 0]
    - [0, 1, 0, 0]
    - [0, 0, 1, 0]
    - [0, 0, 0, 1]

  # position: [0, 0, 12.5e-3]
  # orientation:
  #   - [1, 0, 0]
  #   - [0, -1, 0]
  #   - [0, 0, -1]

# bluenb is attached to denso_suction_cup
# The usual transformation is
# [[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 12.5e-3], [0, 0, 0, 1]]
    
kindlebox_light:
  description: A kindle package box, padded with an acrylic piece inside (for added weight).
  attached_to_manipulator: denso_suction_cup
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  rave_model: objects/kindle_box.xml
  mass: 0.2103
  local_inertia:
    - [ 1.535e-4, 0,        0       ]
    - [ 0,        8.879e-5, 0       ]
    - [ 0,        0,        2.228e-4]
  T_object_model:
    - [1, 0, 0, 0]
    - [0, 1, 0, 0]
    - [0, 0, 1, 0.003]
    - [0, 0, 0, 1]

kindlebox:
  description: A kindle package box, padded with two small aluminium pieces and an acrylic piece inside (for added weight).
  attached_to_manipulator: denso_suction_cup
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  rave_model: objects/kindle_box.xml
  position: [0, 0, 12.390e-3]
  orientation:
    - [1, 0, 0]
    - [0, 1, 0]
    - [0, 0, 1]
  mass: 0.4103
  local_inertia:
    - [ 3.311e-4, 0,        0       ]
    - [ 0,        8.811e-4, 0       ]
    - [ 0,        0,        1.162e-3]
  T_object_model:
    - [1, 0, 0, 0]
    - [0, 1, 0, 0]
    - [0, 0, 1, 0.01]
    - [0, 0, 0, 1]

small_alum_block:
  description: Small silver aluminium block.
  attached_to_manipulator: denso_suction_cup
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  rave_model: objects/tall_alum.xml
  position: [0, 0, 12.5e-3]
  orientation:
    - [1, 0, 0]
    - [0, 1, 0]
    - [0, 0, 1]
  mass: 0.1
  local_inertia:
    - [  3.82620833e-05,   0.00000000e+00,   0.00000000e+00]
    - [  0.00000000e+00,   1.05840000e-05,   0.00000000e+00]
    - [  0.00000000e+00,   0.00000000e+00,   3.82620833e-05]
  T_object_model:
    - [1, 0, 0, 0]
    - [0, 1, 0, 0]
    - [0, 0, 1, 0.01]
    - [0, 0, 0, 1]


tall_alum_block:
  description: Two small silver aluminium blocks, attached together. The frame is defined such that the Z-axis is pointing along the long edge of the block, while X, and Y-axes are perpendicular to the faces.
  attached_to_manipulator: denso_suction_cup
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  rave_model: objects/tall_alum.xml
  position: [0, 0, 62.5e-3]
  orientation:
    - [1, 0, 0]
    - [0, 1, 0]
    - [0, 0, 1]
  mass: 0.2
  local_inertia:
    - [  226.0e-06,   0.00,   0.00000000e+00]
    - [  0,           226.0e-6,   0.00000000e+00]
    - [  0,           0.00,   20.0e-06]

small_alum_block_2:
  description: Small silver aluminium block, attached this time on the lower end of the gripper
  attached_to_manipulator: denso_ft_sensor
  attached_to_robot: denso_ft_sensor_gripper.robot.xml
  position: [0, -0.03, 0.15536]
  orientation:
    - [0, 1, 0]
    - [0, 0, 1]
    - [1, 0, 0]
  mass: 0.1
  local_inertia:
    - [  3.82620833e-05,   0.00000000e+00,   0.00000000e+00]
    - [  0.00000000e+00,   1.05840000e-05,   0.00000000e+00]
    - [  0.00000000e+00,   0.00000000e+00,   3.82620833e-05]
  T_object_model:
    - [1, 0, 0, 0]
    - [0, 1, 0, 0]
    - [0, 0, 1, 0.01]
    - [0, 0, 0, 1]

heavy_alum_1:
  description: The heavy aluminium block, attached directly on the suction cup. The COM of the block is direclty below the cup itself.
  attached_to_manipulator: denso_suction_cup
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  rave_model: objects/heavy_alum.xml
  position: [0, 0, 5e-3]
  orientation:
    - [1, 0, 0]
    - [0, 1, 0]
    - [0, 0, 1]
  mass: 0.377
  local_inertia:
    - [  7.05000000e-05,   0.00000000e+00,   0.00000000e+00]
    - [  0.00000000e+00,   38.8000000e-05,   0.00000000e+00]
    - [  0.00000000e+00,   0.00000000e+00,   45.2620833e-05]
  T_object_model:
    - [1, 0, 0, 0]
    - [0, 1, 0, 0]
    - [0, 0, 1, 0.01]
    - [0, 0, 0, 1]


very_heavy_alum:
  description: The very heavy darkish aluminum block.
  rave_model: objects/heavy_alum.xml
  mass: 0.64
  local_inertia:
    - [  8.64e-05,   0,   0]
    - [  0,   8.64e-04,   0]
    - [  0,   0,   9.16e-04]
  T_object_model:
    - [1, 0, 0, 0]
    - [0, 1, 0, 0]
    - [0, 0, 1, 0.01]
    - [0, 0, 0, 1]

# [[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 9.0e-3], [0, 0, 0, 1]]

heavy_alum_2:
  description: The heavy aluminium block, attached directly on the suction cup. The COM of the block is direclty below the cup itself.
  attached_to_manipulator: denso_suction_cup
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  rave_model: objects/heavy_alum.xml
  position: [0e-3, 5e-3, 5e-3]
  orientation:
    - [1, 0, 0]
    - [0, 1, 0]
    - [0, 0, 1]
  mass: 0.377
  local_inertia:
    - [  7.05000000e-05,   0.00000000e+00,   0.00000000e+00]
    - [  0.00000000e+00,   38.8000000e-05,   0.00000000e+00]
    - [  0.00000000e+00,   0.00000000e+00,   45.2620833e-05]


kindlebox_light_fortesting:
  description: A kindle package box, padded with an acrylic piece inside (for added weight).
  attached_to_manipulator: denso_suction_cup
  attached_to_robot: denso_ft_sensor_suction.robot.xml
  rave_model: objects/kindle_box.xml
  position: [0, 0, 9.080e-3]
  orientation:
    - [1, 0, 0]
    - [0, 1, 0]
    - [0, 0, 1]
  mass: 0.2103
  local_inertia:
    - [ 1.535e-4, 0,        0       ]
    - [ 0,        8.879e-5, 0       ]
    - [ 0,        0,        2.228e-4]
  T_object_model:
    - [1, 0, 0, 0]
    - [0, 1, 0, 0]
    - [0, 0, 1, 0]
    - [0, 0, 0, 1]

