Commit df039743 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Add beam support

parent 3428f61a
......@@ -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
......
......@@ -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>
<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>
<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>
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