Skip to content

GitLab

Commit 2b0976b4 authored by Raphael Lefevre's avatar Raphael Lefevre
Browse files

table elevation

parent 58b39102
Hide whitespace changes
Inline Side-by-side
urdf/drawer_desk/desk.urdf
View file @ 2b0976b4
......@@ -61,14 +61,14 @@
<link name="right_body">
<visual>
<geometry>
<cylinder length="0.55" radius="0.025"/>
<cylinder length="0.65" radius="0.025"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="light_gray"/>
</visual>
<collision>
<geometry>
<cylinder length="0.55" radius="0.025"/>
<cylinder length="0.65" radius="0.025"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
......@@ -91,19 +91,19 @@
<joint name="right_body_foot_joint" type="fixed">
<parent link="right_body"/>
<child link="right_foot"/>
<origin rpy="0 0 0" xyz="0 0 -0.2875"/>
<origin rpy="0 0 0" xyz="0 0 -0.3375"/>
</joint>
<link name="left_body">
<visual>
<geometry>
<cylinder length="0.55" radius="0.025"/>
<cylinder length="0.65" radius="0.025"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="light_gray"/>
</visual>
<collision>
<geometry>
<cylinder length="0.55" radius="0.025"/>
<cylinder length="0.65" radius="0.025"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
......@@ -126,34 +126,34 @@
<joint name="left_body_foot_joint" type="fixed">
<parent link="left_body"/>
<child link="left_foot"/>
<origin rpy="0 0 0" xyz="0 0 -0.2875"/>
<origin rpy="0 0 0" xyz="0 0 -0.3375"/>
</joint>
<joint name="board_right_body_joint" type="fixed">
<parent link="board"/>
<child link="right_body"/>
<origin rpy="0 0 0" xyz="1.225 0 -0.3"/>
<origin rpy="0 0 0" xyz="1.225 0 -0.35"/>
</joint>
<joint name="board_left_body_joint" type="fixed">
<parent link="board"/>
<child link="left_body"/>
<origin rpy="0 0 0" xyz="-1.225 0 -0.3"/>
<origin rpy="0 0 0" xyz="-1.225 0 -0.35"/>
</joint>
<joint name="world_board_joint" type="fixed">
<parent link="world"/>
<child link="board"/>
<origin rpy="0 0 0" xyz="0 0 0.6"/>
<origin rpy="0 0 0" xyz="0 0 0.7"/>
</joint>
<link name="upper_case_background">
<visual>
<geometry>
<box size="0.833333333333 0.025 0.2"/>
<box size="0.833333333333 0.025 0.233333333333"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="marine"/>
</visual>
<collision>
<geometry>
<box size="0.833333333333 0.025 0.2"/>
<box size="0.833333333333 0.025 0.233333333333"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
......@@ -176,19 +176,19 @@
<joint name="upper_case_background_bottom_joint" type="fixed">
<parent link="upper_case_background"/>
<child link="upper_case_bottom"/>
<origin rpy="0 0 0" xyz="0 -0.375 -0.1125"/>
<origin rpy="0 0 0" xyz="0 -0.375 -0.129166666667"/>
</joint>
<link name="upper_case_right">
<visual>
<geometry>
<box size="0.025 0.75 0.2"/>
<box size="0.025 0.75 0.233333333333"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="marine"/>
</visual>
<collision>
<geometry>
<box size="0.025 0.75 0.2"/>
<box size="0.025 0.75 0.233333333333"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
......@@ -201,14 +201,14 @@
<link name="upper_case_left">
<visual>
<geometry>
<box size="0.025 0.75 0.2"/>
<box size="0.025 0.75 0.233333333333"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="marine"/>
</visual>
<collision>
<geometry>
<box size="0.025 0.75 0.2"/>
<box size="0.025 0.75 0.233333333333"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
......@@ -221,7 +221,7 @@
<joint name="board_upper_case_background_joint" type="fixed">
<parent link="board"/>
<child link="upper_case_background"/>
<origin rpy="0 0 0" xyz="0.783333333333 0.0125 -0.125"/>
<origin rpy="0 0 0" xyz="0.783333333333 0.0125 -0.141666666667"/>
</joint>
<link name="upper_drawer_bottom">
<visual>
......@@ -241,14 +241,14 @@
<link name="upper_drawer_background">
<visual>
<geometry>
<box size="0.783333333333 0.025 0.175"/>
<box size="0.783333333333 0.025 0.208333333333"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="light_turquoise"/>
</visual>
<collision>
<geometry>
<box size="0.783333333333 0.025 0.175"/>
<box size="0.783333333333 0.025 0.208333333333"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
......@@ -256,19 +256,19 @@
<joint name="upper_drawer_bottom_background_joint" type="fixed">
<parent link="upper_drawer_bottom"/>
<child link="upper_drawer_background"/>
<origin rpy="0 0 0" xyz="0 0.3625 0.1"/>
<origin rpy="0 0 0" xyz="0 0.3625 0.116666666667"/>
</joint>
<link name="upper_drawer_right">
<visual>
<geometry>
<box size="0.025 0.725 0.175"/>
<box size="0.025 0.725 0.208333333333"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="light_turquoise"/>
</visual>
<collision>
<geometry>
<box size="0.025 0.725 0.175"/>
<box size="0.025 0.725 0.208333333333"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
......@@ -276,19 +276,19 @@
<joint name="upper_drawer_bottom_right_joint" type="fixed">
<parent link="upper_drawer_bottom"/>
<child link="upper_drawer_right"/>
<origin rpy="0 0 0" xyz="0.379166666666 -0.0125 0.1"/>
<origin rpy="0 0 0" xyz="0.379166666666 -0.0125 0.116666666667"/>
</joint>
<link name="upper_drawer_left">
<visual>
<geometry>
<box size="0.025 0.725 0.175"/>
<box size="0.025 0.725 0.208333333333"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="light_turquoise"/>
</visual>
<collision>
<geometry>
<box size="0.025 0.725 0.175"/>
<box size="0.025 0.725 0.208333333333"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
......@@ -296,19 +296,19 @@
<joint name="upper_drawer_bottom_left_joint" type="fixed">
<parent link="upper_drawer_bottom"/>
<child link="upper_drawer_left"/>
<origin rpy="0 0 0" xyz="-0.379166666666 -0.0125 0.1"/>
<origin rpy="0 0 0" xyz="-0.379166666666 -0.0125 0.116666666667"/>
</joint>
<link name="upper_drawer_front">
<visual>
<geometry>
<box size="0.833333333333 0.025 0.225"/>
<box size="0.833333333333 0.025 0.258333333333"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="light_turquoise"/>
</visual>
<collision>
<geometry>
<box size="0.833333333333 0.025 0.225"/>
<box size="0.833333333333 0.025 0.258333333333"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
......@@ -316,7 +316,7 @@
<joint name="upper_drawer_bottom_front_joint" type="fixed">
<parent link="upper_drawer_bottom"/>
<child link="upper_drawer_front"/>
<origin rpy="0 0 0" xyz="0 -0.3875 0.075"/>
<origin rpy="0 0 0" xyz="0 -0.3875 0.0916666666665"/>
</joint>
<link name="upper_drawer_handle">
<visual>
......
urdf/drawer_desk/desk.urdf.xacro
View file @ 2b0976b4
......@@ -36,7 +36,7 @@
<origin xyz="0 0 ${-ground_thickness/2}" rpy="0 0 0"/>
</joint>
<xacro:property name="board_h" value="0.6"/>
<xacro:property name="board_h" value="0.7"/>
<xacro:property name="board_sX" value="2.5"/>
<xacro:property name="board_sY" value="1.5"/>
<xacro:property name="board_sZ" value="0.05"/>
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment