Commit 87f00ca0 authored by Steve Tonneau's avatar Steve Tonneau
Browse files

crawll back scenario

parent 3a5ca8d9
......@@ -64,14 +64,16 @@ install(FILES
data/urdf/box_rom.urdf
data/urdf/box.urdf
data/urdf/scene.urdf
data/urdf/scene2.urdf
data/urdf/scene_wall.urdf
#~ data/urdf/scene2.urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
)
install(FILES
data/srdf/box_rom.srdf
data/srdf/box.srdf
data/srdf/scene.srdf
data/srdf/scene2.srdf
data/srdf/scene_wall.srdf
#~ data/srdf/scene2.srdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
)
install(FILES
......@@ -82,6 +84,7 @@ install(FILES
data/meshes/robot_box.stl
data/meshes/chair_simple.stl
data/meshes/ground.stl
data/meshes/ground_table.stl
#~ data/meshes/pedal.stl
#~ data/meshes/board.stl
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
......
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<?xml version="1.0"?>
<robot name="scene_wall">
<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>
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