Add beam support

CMakeLists.txt

@@ -35,6 +35,7 @@ SET(URDF_FILES
   urdf/placard-vertical.urdf
   urdf/scene.urdf
   urdf/beam.urdf
+  urdf/beam_support.urdf
 )
 SET(URDF_UR_BENCHMARK_FILES
   urdf/ur_benchmark/obstacle_sphere.urdf
@@ -71,6 +72,7 @@ SET(SRDF_FILES
     srdf/placard.srdf
     srdf/scene.srdf
     srdf/beam.srdf
+    srdf/beam_support.srdf
   )
 
 SET(URDF_HRP2_FILES

srdf/beam.srdf

@@ -7,4 +7,8 @@
     <position> -0.675 0 0 1 0 0 0 </position>
     <link name="beam"/>
   </handle>
+  <handle name="support" clearance="0.01">
+    <position> 0 0 0.015 0.70710678119 0 0.70710678119 0 </position>
+    <link name="beam"/>
+  </handle>
 </robot>

srdf/beam_support.srdf

+<robot name="beam_support">
+  <gripper name="support" clearance="0.005">
+    <position> 0 0 0.1 -0.70710678119 0 0.70710678119 0 </position>
+    <link name="beam_support"/>
+  </gripper>
+</robot>

urdf/beam_support.urdf

+<robot name="beam_support">
+  <link name="beam_support">
+    <inertial>
+      <mass value="5"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <box size="0.2 0.2 0.2" />
+      </geometry>
+      <material name="blue">
+        <color rgba="0.11 0.42 0.56 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.2 0.2 0.2" />
+      </geometry>
+    </collision>
+  </link>
+</robot>