added wall

CMakeLists.txt

@@ -97,6 +97,7 @@ install(FILES
   data/urdf/siggraph_asia/scale_spidey.urdf
   data/urdf/siggraph_asia/grasp.urdf
   data/urdf/siggraph_asia/plane_hole.urdf
+  data/urdf/siggraph_asia/wall.urdf
   data/spiderman/urdf/SpidermanLFootSphere.urdf
   data/spiderman/urdf/SpidermanLHandSphere.urdf
   data/spiderman/urdf/SpidermanRFootSphere.urdf
@@ -139,6 +140,7 @@ install(FILES
   data/srdf/siggraph_asia/scale.srdf
   data/srdf/siggraph_asia/scale_spidey.srdf
   data/srdf/siggraph_asia/grasp.srdf
+  data/srdf/siggraph_asia/wall.srdf
   data/srdf/siggraph_asia/plane_hole.srdf
   data/spiderman/srdf/SpidermanLFootSphere.srdf
   data/spiderman/srdf/SpidermanLHandSphere.srdf
@@ -186,9 +188,10 @@ install(FILES
 	data/meshes/polaris_reduced.stl
 	data/meshes/siggraph_asia/down.stl
 	data/meshes/siggraph_asia/scale.stl
-        data/meshes/siggraph_asia/scale_spidey.stl
-        data/meshes/siggraph_asia/grasp.stl
-        data/meshes/siggraph_asia/plane_hole.stl
+    data/meshes/siggraph_asia/scale_spidey.stl
+    data/meshes/siggraph_asia/grasp.stl
+    data/meshes/siggraph_asia/plane_hole.stl
+    data/meshes/siggraph_asia/wall.stl
 	
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
   )

data/srdf/siggraph_asia/wall.srdf

+<?xml version="1.0"?>
+<robot name="wall">
+</robot>

data/urdf/siggraph_asia/wall.urdf

+<robot name="wall">
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package:///../hpp-rbprm-corba/meshes/siggraph_asia/wall.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/siggraph_asia/wall.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>