Commit d6bbdd30 authored by Raphael Lefevre's avatar Raphael Lefevre
Browse files

Desk model: ground added

parent 2327fa19
......@@ -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>
......
......@@ -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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