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Humanoid Path Planner
hpp-practicals
Commits
dd356f84
Commit
dd356f84
authored
Oct 29, 2018
by
Florent Lamiraux
Committed by
Florent Lamiraux florent@laas.fr
Nov 09, 2018
Browse files
[srdf] Add contact surfaces to ground and pokeball.
parent
f86eef3d
Changes
2
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srdf/ur_benchmark/ground.srdf
View file @
dd356f84
<?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>
srdf/ur_benchmark/pokeball.srdf
View file @
dd356f84
...
...
@@ -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>
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