Add cylinders with two different lengths.

CMakeLists.txt

@@ -52,11 +52,15 @@ SET(SRDF_UR_BENCHMARK_FILES
   )
 
 SET(URDF_CONSTRUCTION_SET_FILES
+  urdf/construction_set/cylinder_08.urdf
+  urdf/construction_set/cylinder_13.urdf
   urdf/construction_set/ground.urdf
   urdf/construction_set/sphere.urdf
   )
 
 SET(SRDF_CONSTRUCTION_SET_FILES
+  srdf/construction_set/cylinder_08.srdf
+  srdf/construction_set/cylinder_13.srdf
   srdf/construction_set/ground.srdf
   srdf/construction_set/sphere.srdf
   )

srdf/construction_set/cylinder_08.srdf

+<?xml version="1.0"?>
+<robot name="cylinder_08">
+  <handle name="handle" clearance="0.015">
+    <position> 0 0 0 0.7071067811865476 0 0.7071067811865476 0 </position>
+    <mask> true true true false false false </mask>
+    <link name="base_link"/>
+  </handle>
+</robot>

srdf/construction_set/cylinder_13.srdf

+<?xml version="1.0"?>
+<robot name="cylinder_08">
+  <handle name="handle" clearance="0.015">
+    <position> 0 0 0 0.7071067811865476 0 0.7071067811865476 0 </position>
+    <mask> true true true true false true </mask>
+    <link name="base_link"/>
+  </handle>
+</robot>

urdf/construction_set/cylinder.urdf → urdf/construction_set/cylinder_08.urdf

-<robot name="cylinder">
+<robot name="cylinder_08">
   <link name="base_link">
     <inertial>
       <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
@@ -10,7 +10,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-	<cylinder radius="0.005" length="0.08"/>
+	<cylinder radius="0.01" length="0.08"/>
       </geometry>
     </visual>
     <collision>

urdf/construction_set/cylinder_13.urdf

+<robot name="cylinder_13">
+  <link name="base_link">
+    <inertial>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <mass value="0.6"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+	       iyy="0.001" iyz="0.0"
+	       izz="0.001" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+	<cylinder radius="0.01" length="0.12970562748477143"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+	<box size="0.12970562748477143 0.01 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>