world_xml_dir: caged_denso_ft_sensor_suction.env.xml
robot:  denso
    
# Define object to transport
objects:
  - name: object4
    object_profile: kindlebox_light
    object_attach_to: denso_suction_cup
    contact_profile: suctioncup_skirt_kindlebox_467795874a
    T_link_object:
      - [1, 0, 0, 0e-3]
      - [0, -1, 0, 0]
      - [0, 0, -1, 25.5e-3]
      - [0, 0, 0, 1]
    T_start: 
      - [1, 0, 0, 0.5]
      - [0, 1, 0, -0.4]
      - [0, 0, 1, 0.04]
      - [0, 0, 0, 0]
    T_goal:
      - [1, 0, 0, 0.5]
      - [0, 1, 0, +0.2]
      - [0, 0, 1, 0.1]
      - [0, 0, 0, 0]

  - name: object3
    object_profile: kindlebox
    object_attach_to: denso_suction_cup2
    contact_profile: suctioncup_skirt_kindlebox_467795874a
    T_link_object:
      - [1, 0, 0, 0]
      - [0, 1, 0, 0]
      - [0, 0, 1, 9.08e-3]
      - [0, 0, 0, 1]
    T_start: 
      - [1, 0, 0, 0.5]
      - [0, -1, 0, -0.2]
      - [0, 0, -1, 0.2]
      - [0, 0, 0, 0]
    T_goal:
      - [1, 0, 0, 0.5]
      - [0, -1, 0, +0.2]
      - [0, 0, -1, 0.1]
      - [0, 0, 0, 0]

  - name: object2
    object_profile: kindlebox_light
    object_attach_to: denso_suction_cup2
    contact_profile: suctioncup_skirt_kindlebox_467795874a
    T_link_object:
      - [1, 0, 0, 0]
      - [0, 1, 0, 0]
      - [0, 0, 1, 9.08e-3]
      - [0, 0, 0, 1]
    T_start: 
      - [1, 0, 0, 0.5]
      - [0, -1, 0, -0.2]
      - [0, 0, -1, 0.1]
      - [0, 0, 0, 0]
    T_goal:
      - [1, 0, 0, 0.5]
      - [0, -1, 0, +0.2]
      - [0, 0, -1, 0.1]
      - [0, 0, 0, 0]

  - name: object1
    object_profile: kindlebox_light
    object_attach_to: denso_suction_cup2
    T_link_object:
      - [1, 0, 0, 0]
      - [0, 1, 0, 0]
      - [0, 0, 1, 9.08e-3]
      - [0, 0, 0, 1]
    contact_profile: suctioncup_skirt_kindlebox_467795874a
    T_start: 
      - [1, 0, 0, 0.5]
      - [0, -1, 0, -0.2]
      - [0, 0, -1, 0]
      - [0, 0, 0, 0]
    T_goal:
      - [1, 0, 0, 0.5]
      - [0, -1, 0, +0.2]
      - [0, 0, -1, +0.2]
      - [0, 0, 0, 0]

