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Add visuals for arat wooden_case tee nuts on lid

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Steve Peters 2014-10-10 11:05:00 -07:00
parent 75553939fd
commit 38cfc110a7
2 changed files with 95 additions and 0 deletions
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30
wooden_case/model.rsdf
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@ -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">

65
wooden_case/model.sdf
View File

@ -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">