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Jason Chemin
hpp-environments
Commits
d6bbdd30
Commit
d6bbdd30
authored
Dec 20, 2017
by
Raphael Lefevre
Browse files
Desk model: ground added
parent
2327fa19
Changes
2
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Inline
Side-by-side
urdf/drawer_desk/desk.urdf
View file @
d6bbdd30
...
...
@@ -19,7 +19,30 @@
<material
name=
"light_purple"
>
<color
rgba=
"0.3 0.3 0.6 1"
/>
</material>
<material
name=
"black"
>
<color
rgba=
"0.05 0.05 0.05 1"
/>
</material>
<link
name=
"world"
/>
<link
name=
"ground"
>
<visual>
<geometry>
<box
size=
"5 5 0.1"
/>
</geometry>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
<material
name=
"black"
/>
</visual>
<collision>
<geometry>
<box
size=
"5 5 0.1"
/>
</geometry>
<origin
rpy=
"0 0 0"
xyz=
"0 0 0"
/>
</collision>
</link>
<joint
name=
"world_ground_joint"
type=
"fixed"
>
<parent
link=
"world"
/>
<child
link=
"ground"
/>
<origin
rpy=
"0 0 0"
xyz=
"0 0 -0.05"
/>
</joint>
<link
name=
"board"
>
<visual>
<geometry>
...
...
urdf/drawer_desk/desk.urdf.xacro
View file @
d6bbdd30
...
...
@@ -6,8 +6,36 @@
<xacro:include
filename=
"case.urdf.xacro"
/>
<xacro:include
filename=
"drawer.urdf.xacro"
/>
<xacro:property
name=
"ground_thickness"
value=
"0.1"
/>
<material
name=
"black"
>
<color
rgba=
"0.05 0.05 0.05 1"
/>
</material>
<link
name=
"world"
/>
<link
name=
"ground"
>
<visual>
<geometry>
<box
size=
"5 5 ${ground_thickness}"
/>
</geometry>
<origin
xyz=
"0 0 0"
rpy=
"0 0 0"
/>
<material
name=
"black"
/>
</visual>
<collision>
<geometry>
<box
size=
"5 5 ${ground_thickness}"
/>
</geometry>
<origin
xyz=
"0 0 0"
rpy=
"0 0 0"
/>
</collision>
</link>
<joint
name=
"world_ground_joint"
type=
"fixed"
>
<parent
link=
"world"
/>
<child
link=
"ground"
/>
<origin
xyz=
"0 0 ${-ground_thickness/2}"
rpy=
"0 0 0"
/>
</joint>
<xacro:property
name=
"board_h"
value=
"0.6"
/>
<xacro:property
name=
"board_sX"
value=
"2.5"
/>
<xacro:property
name=
"board_sY"
value=
"1.5"
/>
...
...
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