Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Jason Chemin
hpp-environments
Commits
cfd914be
Commit
cfd914be
authored
Jul 19, 2017
by
Florent Lamiraux
Committed by
Florent Lamiraux florent@laas.fr
Jul 19, 2017
Browse files
Add benchmark with magnet construction set.
parent
d4a605de
Changes
7
Hide whitespace changes
Inline
Side-by-side
CMakeLists.txt
View file @
cfd914be
...
...
@@ -51,6 +51,16 @@ SET(SRDF_UR_BENCHMARK_FILES
srdf/ur_benchmark/pokeball.srdf
)
SET
(
URDF_CONSTRUCTION_SET_FILES
urdf/construction_set/ground.urdf
urdf/construction_set/sphere.urdf
)
SET
(
SRDF_CONSTRUCTION_SET_FILES
srdf/construction_set/ground.srdf
srdf/construction_set/sphere.srdf
)
SET
(
SRDF_FILES
srdf/buggy.srdf
srdf/placard.srdf
...
...
@@ -78,6 +88,12 @@ INSTALL(FILES ${URDF_UR_BENCHMARK_FILES}
INSTALL
(
FILES
${
SRDF_UR_BENCHMARK_FILES
}
DESTINATION
${
CATKIN_PACKAGE_SHARE_DESTINATION
}
/srdf/ur_benchmark
)
INSTALL
(
FILES
${
URDF_CONSTRUCTION_SET_FILES
}
DESTINATION
${
CATKIN_PACKAGE_SHARE_DESTINATION
}
/urdf/construction_set
)
INSTALL
(
FILES
${
SRDF_CONSTRUCTION_SET_FILES
}
DESTINATION
${
CATKIN_PACKAGE_SHARE_DESTINATION
}
/srdf/construction_set
)
INSTALL
(
FILES
${
SRDF_FILES
}
DESTINATION
${
CATKIN_PACKAGE_SHARE_DESTINATION
}
/srdf
)
...
...
srdf/construction_set/ground.srdf
0 → 100644
View file @
cfd914be
<?xml version="1.0"?>
<robot
name=
"ground"
>
<gripper
name=
"slot1"
clearance =
"0.05"
>
<position>
-0.35 -0.025 0.025 0 -0.707 0 0.707
</position>
<link
name=
"ground_base"
/>
</gripper>
<gripper
name=
"slot2"
clearance =
"0.05"
>
<position>
-0.40 -0.025 0.025 0 -0.707 0 0.707
</position>
<link
name=
"ground_base"
/>
</gripper>
<gripper
name=
"slot3"
clearance =
"0.05"
>
<position>
-0.35 0.025 0.025 0 -0.707 0 0.707
</position>
<link
name=
"ground_base"
/>
</gripper>
<gripper
name=
"slot4"
clearance =
"0.05"
>
<position>
-0.40 0.025 0.025 0 -0.707 0 0.707
</position>
<link
name=
"ground_base"
/>
</gripper>
</robot>
srdf/construction_set/sphere.srdf
0 → 100644
View file @
cfd914be
<?xml version="1.0"?>
<robot
name=
"sphere"
>
<handle
name=
"handle"
clearance=
"0.025"
>
<position>
0 0 0 0.7071067811865476 0 0.7071067811865476 0
</position>
<link
name=
"base_link"
/>
</handle>
</robot>
urdf/construction_set/cylinder.srdf
0 → 100644
View file @
cfd914be
<robot name="cylinder">
<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>
<box size="0.025 0.025 0.025"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.025 0.025 0.025"/>
</geometry>
</collision>
</link>
</robot>
urdf/construction_set/cylinder.urdf
0 → 100644
View file @
cfd914be
<robot name="cylinder">
<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="0.005" length="0.08"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.08 0.01 0.01"/>
</geometry>
</collision>
</link>
</robot>
urdf/construction_set/ground.urdf
0 → 100644
View file @
cfd914be
<?xml version="1.0"?>
<robot
name=
"ground"
>
<link
name=
"ground_base"
>
<visual>
<geometry>
<box
size=
"2 1 0.02"
/>
</geometry>
<origin
xyz=
"0 0 -0.01"
/>
<material
name=
"Orange"
>
<color
rgba=
"1 0.4 0.3 0.6"
/>
</material>
</visual>
<collision>
<geometry>
<box
size=
"2 1 0.02"
/>
</geometry>
<origin
xyz=
"0 0 -0.02"
/>
</collision>
</link>
</robot>
urdf/construction_set/sphere.urdf
0 → 100644
View file @
cfd914be
<robot name="sphere">
<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>
<sphere radius="0.02"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.02"/>
</geometry>
</collision>
</link>
</robot>
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment