Commit 1d84722e authored by Raphael Lefevre's avatar Raphael Lefevre
Browse files

handle reorientation

parent e7de3c06
......@@ -323,14 +323,14 @@
<geometry>
<sphere radius="0.025"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<origin rpy="0 0 1.5707963268" xyz="0 0 0"/>
<material name="light_purple"/>
</visual>
<collision>
<geometry>
<sphere radius="0.025"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<origin rpy="0 0 1.5707963268" xyz="0 0 0"/>
</collision>
</link>
<joint name="upper_drawer_front_handle_joint" type="fixed">
......
......@@ -9,6 +9,8 @@
<color rgba="0.3 0.3 0.6 1"/>
</material>
<xacro:property name="pi" value="3.14159265359"/>
<xacro:macro name="drawer" params="prefix planks_thickness drawer_sizeX drawer_sizeY drawer_sizeZ drawer_handle_radius">
<link name="${prefix}_drawer_bottom">
......@@ -120,14 +122,14 @@
<geometry>
<sphere radius="${drawer_handle_radius}"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="0 0 0" rpy="0 0 ${pi/2}"/>
<material name="light_purple"/>
</visual>
<collision>
<geometry>
<sphere radius="${drawer_handle_radius}"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="0 0 0" rpy="0 0 ${pi/2}"/>
</collision>
</link>
......
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