Add beam URDF and SRDF

CMakeLists.txt

@@ -34,6 +34,7 @@ SET(URDF_FILES
   urdf/placard.urdf
   urdf/placard-vertical.urdf
   urdf/scene.urdf
+  urdf/beam.urdf
 )
 SET(URDF_UR_BENCHMARK_FILES
   urdf/ur_benchmark/obstacle_sphere.urdf
@@ -69,6 +70,7 @@ SET(SRDF_FILES
     srdf/buggy.srdf
     srdf/placard.srdf
     srdf/scene.srdf
+    srdf/beam.srdf
   )
 
 SET(URDF_HRP2_FILES

srdf/beam.srdf

+<robot name="beam">
+  <handle name="side0" clearance="0.025">
+    <position>  0.675 0 0 0 0 0 1 </position>
+    <link name="beam"/>
+  </handle>
+  <handle name="side1" clearance="0.025">
+    <position> -0.675 0 0 1 0 0 0 </position>
+    <link name="beam"/>
+  </handle>
+</robot>

urdf/beam.urdf

+<robot name="beam">
+  <link name="beam">
+    <inertial>
+      <mass value="5"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.35 0 0"/>
+      <geometry>
+        <box size="0.7 0.03 0.03" />
+      </geometry>
+      <material name="blue">
+        <color rgba="0.11 0.42 0.56 1.0"/>
+      </material>
+    </visual>
+    <visual>
+      <origin xyz="-0.35 0 0"/>
+      <geometry>
+        <box size="0.7 0.03 0.03" />
+      </geometry>
+      <material name="red">
+        <color rgba="0.56 0.42 0.11 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="1.4 0.03 0.03" />
+      </geometry>
+    </collision>
+  </link>
+</robot>