Add cylinders with two different lengths.

c6a37b9b · Florent Lamiraux · Florent Lamiraux florent@laas.fr · 8a8fe105 · c6a37b9b · c6a37b9b
Commit c6a37b9b authored Jul 23, 2017 by Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr Jul 23, 2017
--- a/CMakeLists.txt
+++ b/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
  )

--- a/srdf/construction_set/cylinder_08.srdf
+++ b/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>
--- a/srdf/construction_set/cylinder_13.srdf
+++ b/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>
--- a/urdf/construction_set/cylinder.urdf
+++ b/urdf/construction_set/cylinder.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>

--- a/urdf/construction_set/cylinder_13.urdf
+++ b/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>