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Jason Chemin
hpp-environments
Commits
1d84722e
Commit
1d84722e
authored
Jan 10, 2018
by
Raphael Lefevre
Browse files
handle reorientation
parent
e7de3c06
Changes
2
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Inline
Side-by-side
urdf/drawer_desk/desk.urdf
View file @
1d84722e
...
...
@@ -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"
>
...
...
urdf/drawer_desk/drawer.urdf.xacro
View file @
1d84722e
...
...
@@ -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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