Commit cfd914be authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

Add benchmark with magnet construction set.

parent d4a605de
......@@ -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)
......
<?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>
<?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>
<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>
<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>
<?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>
<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>
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