Commit 20104ae4 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

Merge remote-tracking branch 'origin/devel'

parents 6485e5e6 2a8130ce
......@@ -32,6 +32,7 @@ SET(URDF_UR_BENCHMARK_FILES
urdf/ur_benchmark/wall.urdf
urdf/ur_benchmark/box.urdf
urdf/ur_benchmark/ground.urdf
urdf/ur_benchmark/ground_with_obstacles.urdf
urdf/ur_benchmark/pokeball.urdf
)
......
<?xml version="1.0"?>
<robot name="ground">
<contact name="surface">
<link name="ground_base"/>
<point>
1.00 1.00 0.0
-1.00 1.00 0.0
-1.00 -1.00 0.0
1.00 -1.00 0.0
</point>
<shape>
4 0 1 2 3
</shape>
</contact>
</robot>
......@@ -4,4 +4,16 @@
<position> 0 0 0 0.7071067811865476 0 0.7071067811865476 0 </position>
<link name="base_link"/>
</handle>
<contact name="bottom">
<link name="base_link"/>
<point>
0.01 0.01 -0.025
-0.01 0.01 -0.025
-0.01 -0.01 -0.025
0.01 -0.01 -0.025
</point>
<shape>
4 3 2 1 0
</shape>
</contact>
</robot>
<?xml version="1.0"?>
<robot name="ground">
<link name="ground_base">
<!--
VISUAL
-->
<visual>
<!-- Ground -->
<geometry>
<box size="1 1 0.02"/>
</geometry>
<origin xyz="0 0 -0.01"/>
<material name="Orange">
<color rgba="1 0.4 0.3 0.6"/>
</material>
</visual>
<visual>
<!-- Obstacle in front -->
<geometry>
<box size="0.2 0.02 0.3"/>
</geometry>
<origin xyz="0.4 0 0.15"/>
<material name="Orange">
<color rgba="1 0.4 0.3 0.6"/>
</material>
</visual>
<visual>
<!-- Obstacle in rear -->
<geometry>
<box size="0.2 0.02 0.3"/>
</geometry>
<origin xyz="-0.4 0 0.15"/>
<material name="Orange">
<color rgba="1 0.4 0.3 0.6"/>
</material>
</visual>
<!--
COLLISION
-->
<collision>
<!-- Ground -->
<geometry>
<box size="1 1 0.02"/>
</geometry>
<origin xyz="0 0 -0.01"/>
<material name="Orange">
<color rgba="1 0.4 0.3 0.6"/>
</material>
</collision>
<collision>
<!-- Obstacle in front -->
<geometry>
<box size="0.2 0.02 0.3"/>
</geometry>
<origin xyz="0.4 0 0.15"/>
<material name="Orange">
<color rgba="1 0.4 0.3 0.6"/>
</material>
</collision>
<collision>
<!-- Obstacle in rear -->
<geometry>
<box size="0.2 0.02 0.3"/>
</geometry>
<origin xyz="-0.4 0 0.15"/>
<material name="Orange">
<color rgba="1 0.4 0.3 0.6"/>
</material>
</collision>
</link>
</robot>
......@@ -16,7 +16,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.025 0.025 0.025"/>
<sphere radius="0.025"/>
</geometry>
</collision>
</link>
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment