From 38cfc110a780c36b01557c37ae71415a937fbd30 Mon Sep 17 00:00:00 2001
From: Steve Peters <scpeters@osrfoundation.org>
Date: Fri, 10 Oct 2014 11:05:00 -0700
Subject: [PATCH] Add visuals for arat wooden_case tee nuts on lid

---
 wooden_case/model.rsdf | 30 +++++++++++++++++++
 wooden_case/model.sdf  | 65 ++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 95 insertions(+)

diff --git a/wooden_case/model.rsdf b/wooden_case/model.rsdf
index f9c4b64..5ced76c 100644
--- a/wooden_case/model.rsdf
+++ b/wooden_case/model.rsdf
@@ -169,6 +169,16 @@
         ixx = mass/12.0 * (dy**2 + dz**2)
         iyy = mass/12.0 * (dz**2 + dx**2)
         izz = mass/12.0 * (dx**2 + dy**2)
+
+        tee_nut_diameter = 0.5 * inchToMeter 
+        tee_nut_radius = tee_nut_diameter / 2
+        tee_nut_length = t*1.01
+        tee_nut_pos = {
+          "tee_nut_1" => [0.122, -0.216, 0.0],
+          "tee_nut_2" => [0.122, -0.088, 0.0],
+          "tee_nut_3" => [0.122,  0.088, 0.0],
+          "tee_nut_4" => [0.122,  0.216, 0.0],
+        }
       %>
       <pose><%= pos.join(' ') %>  0 0 0</pose>
       <inertial>
@@ -205,6 +215,26 @@
           </script>
         </material>
       </visual>
+      <% tee_nut_pos.keys.each do |k|
+          name = k
+          pos  = tee_nut_pos[k]
+      %>
+      <%= "<visual name='#{name}'>" %>
+        <pose><%= pos.join(' ') %>  0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius><%= tee_nut_radius %></radius>
+            <length><%= tee_nut_length %></length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <% end %>
     </link>
 
     <joint name="lid_hinge" type="revolute">
diff --git a/wooden_case/model.sdf b/wooden_case/model.sdf
index 0fab579..fe94820 100644
--- a/wooden_case/model.sdf
+++ b/wooden_case/model.sdf
@@ -287,6 +287,71 @@
           </script>
         </material>
       </visual>
+      
+      <visual name='tee_nut_1'>
+        <pose>0.122 -0.216 0.0  0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.00635</radius>
+            <length>0.019240499999999997</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      
+      <visual name='tee_nut_2'>
+        <pose>0.122 -0.088 0.0  0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.00635</radius>
+            <length>0.019240499999999997</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      
+      <visual name='tee_nut_3'>
+        <pose>0.122 0.088 0.0  0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.00635</radius>
+            <length>0.019240499999999997</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      
+      <visual name='tee_nut_4'>
+        <pose>0.122 0.216 0.0  0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.00635</radius>
+            <length>0.019240499999999997</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      
     </link>
 
     <joint name="lid_hinge" type="revolute">