Commit f86eef3d authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

[urdf] Add an environment with small obstacles.

parent b53d2618
......@@ -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">
<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>
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