Commit 00c17065 authored by Steve Tonneau's avatar Steve Tonneau
Browse files

hrp2 boxes

parent 87f00ca0
......@@ -61,30 +61,40 @@ install(FILES
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(FILES
data/urdf/hrp2_trunk.urdf
data/urdf/hrp2_rom.urdf
data/urdf/box_rom.urdf
data/urdf/box.urdf
data/urdf/scene.urdf
data/urdf/scene_wall.urdf
data/urdf/truck.urdf
#~ data/urdf/scene2.urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
)
install(FILES
data/srdf/hrp2_trunk.srdf
data/srdf/hrp2_rom.srdf
data/srdf/box_rom.srdf
data/srdf/box.srdf
data/srdf/scene.srdf
data/srdf/scene_wall.srdf
data/srdf/truck.srdf
#~ data/srdf/scene2.srdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
)
install(FILES
data/meshes/car.stl
data/meshes/car_simple.stl
data/meshes/hrp2_trunk.stl
data/meshes/hrp2_rom.stl
data/meshes/box.stl
data/meshes/box_rom.stl
data/meshes/robot_box.stl
data/meshes/chair_simple.stl
data/meshes/ground.stl
data/meshes/ground_table.stl
data/meshes/truck.stl
data/meshes/truck_vision.stl
#~ data/meshes/pedal.stl
#~ data/meshes/board.stl
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
......
File mode changed from 100644 to 100755
This file contains the coordinate and radius
of the chebyschev ball associated to each limb's ROM
rleg
center =
0.1362
-0.1887
-0.1498
radius =
0.4237
lleg
center =
0.0092
0.0357
-0.2253
radius =
0.4023
rarm
center =
0.1014
-0.3514
0.5129
radius =
0.4308
larm
center =
0.1070
0.3497
0.5331
radius =
0.4302
This diff is collapsed.
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
This diff is collapsed.
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
This diff is collapsed.
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
This diff is collapsed.
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
<?xml version="1.0"?>
<robot name="hrp2_rom">
<handle name="handle">
<position> 0 0 0 1 0 0 0 </position>
<link name="base_link"/>
</handle>
<handle name="handle2">
<position> 0 0 0
0 0 0.7071067811865476 0.7071067811865476 </position>
<link name="base_link"/>
</handle>
<contact name="box_surface">
<link name="base_link"/>
<point>-0.025 -0.025 -0.025 -0.025 0.025 -0.025 -0.025 -0.025 0.025 -0.025 0.025 0.025
+0.025 -0.025 -0.025 +0.025 0.025 -0.025 +0.025 -0.025 0.025 +0.025 0.025 0.025 </point>
<triangle> 0 2 1 4 5 6</triangle>
</contact>
</robot>
<?xml version="1.0"?>
<robot name="hrp2_trunk">
<handle name="handle">
<position> 0 0 0 1 0 0 0 </position>
<link name="base_link"/>
</handle>
<handle name="handle2">
<position> 0 0 0
0 0 0.7071067811865476 0.7071067811865476 </position>
<link name="base_link"/>
</handle>
<contact name="box_surface">
<link name="base_link"/>
<point>-0.025 -0.025 -0.025 -0.025 0.025 -0.025 -0.025 -0.025 0.025 -0.025 0.025 0.025
+0.025 -0.025 -0.025 +0.025 0.025 -0.025 +0.025 -0.025 0.025 +0.025 0.025 0.025 </point>
<triangle> 0 2 1 4 5 6</triangle>
</contact>
</robot>
<?xml version="1.0"?>
<robot name="truck">
<handle name="handle">
<position> 0 0 0 1 0 0 0 </position>
<link name="base_link"/>
</handle>
<handle name="handle2">
<position> 0 0 0
0 0 0.7071067811865476 0.7071067811865476 </position>
<link name="base_link"/>
</handle>
<contact name="box_surface">
<link name="base_link"/>
<point>-0.025 -0.025 -0.025 -0.025 0.025 -0.025 -0.025 -0.025 0.025 -0.025 0.025 0.025
+0.025 -0.025 -0.025 +0.025 0.025 -0.025 +0.025 -0.025 0.025 +0.025 0.025 0.025 </point>
<triangle> 0 2 1 4 5 6</triangle>
</contact>
</robot>
<robot name="box">
<robot name="hrp2_rom">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/box_rom.stl"/>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rom.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
......@@ -12,7 +12,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/box_rom.stl"/>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rom.stl"/>
</geometry>
</collision>
</link>
......
<robot name="hrp2_trunk">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk.stl"/>
</geometry>
</collision>
</link>
</robot>
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