Commit c6a37b9b authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

Add cylinders with two different lengths.

parent 8a8fe105
......@@ -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
)
......
<?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>
<?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>
<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>
......
<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>
Supports Markdown
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