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Migrate box model for baxter benchmark to this package. #55

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merged 1 commit into from
Jan 14, 2025
Merged

Migrate box model for baxter benchmark to this package. #55

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18 changes: 18 additions & 0 deletions srdf/baxter_benchmark/box.srdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
<?xml version="1.0"?>
<robot name="box">
<handle name="handle" clearance="0.025">
<position> 0 0 0 1 0 0 0 </position>
<link name="base_link"/>
</handle>
<handle name="handle2" clearance="0.025">
<position> 0 0 0
0 0 0.7071067811865476 0.7071067811865476 </position>
<link name="base_link"/>
</handle>
<contact name="box_surface">
<link name="base_link"/>
<point>-0.015 -0.015 -0.015 -0.015 0.015 -0.015 -0.015 -0.015 0.015 -0.015 0.015 0.015
+0.015 -0.015 -0.015 +0.015 0.015 -0.015 +0.015 -0.015 0.015 +0.015 0.015 0.015 </point>
<shape> 4 0 2 3 1 4 4 5 7 6</shape>
</contact>
</robot>
26 changes: 26 additions & 0 deletions urdf/baxter_benchmark/box.urdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,26 @@
<robot name="box">
<link name="base_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<mass value="0.6"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.03 0.03 0.03"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.03 0.03 0.03"/>
</geometry>
</collision>
</link>
</robot>
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