Commit dd356f84 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

[srdf] Add contact surfaces to ground and pokeball.

parent f86eef3d
<?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>
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