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added the table for the popcorn demo #69

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added the table for the popcorn demo #69

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6d88db2
added the table for the popcorn demo
Tigul Feb 20, 2020
7ebb1ce
added the grids on the left and right sioe
Tigul Mar 5, 2020
c2efaeb
adjustet the x axis of the drawer
Tigul Mar 9, 2020
592fc25
rotated the drawer so x axis point to the front
Tigul Mar 9, 2020
4290c65
removed rotation of links
Tigul Mar 11, 2020
798e15d
clean up pull request
Tigul Jul 28, 2020
92cafc8
removed obsolete macro and added properties
Tigul Aug 19, 2020
477dce8
added default parameter
Tigul Oct 29, 2020
959a425
renamed parameter
Tigul Oct 29, 2020
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49 changes: 26 additions & 23 deletions iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -2,9 +2,9 @@

<robot name="iai_kitchen_wall_robohow" xmlns:xacro="http://ros.org/wiki/xacro">

<macro name="iai_kitchen_wall_robohow" params="parent *origin">
<macro name="iai_kitchen_wall_robohow" params="parent *origin include_wall_7:=true">
<!-- LINKS -->

<link name="kitchen_wall_1">
<sphere_inertia radius="0" mass="0"/>
<visual>
Expand All @@ -20,7 +20,7 @@
</geometry>
</collision>
</link>

<link name="kitchen_wall_2">
<sphere_inertia radius="0" mass="0"/>
<visual>
Expand All @@ -36,7 +36,7 @@
</geometry>
</collision>
</link>

<link name="kitchen_wall_3">
<sphere_inertia radius="0" mass="0"/>
<visual>
Expand All @@ -52,7 +52,7 @@
</geometry>
</collision>
</link>

<link name="kitchen_wall_4">
<sphere_inertia radius="0" mass="0"/>
<visual>
Expand All @@ -68,7 +68,7 @@
</geometry>
</collision>
</link>

<link name="kitchen_wall_5">
<sphere_inertia radius="0" mass="0"/>
<visual>
Expand All @@ -84,9 +84,9 @@
</geometry>
</collision>
</link>



<link name="kitchen_wall_6">
<sphere_inertia radius="0" mass="0"/>
<visual>
Expand All @@ -101,8 +101,9 @@
<box size="1 0.15 0.7" />
</geometry>
</collision>
</link>
</link>

<xacro:if value="${include_wall_7 == 'true'}">
<link name="kitchen_wall_7">
<sphere_inertia radius="0" mass="0"/>
<visual>
Expand All @@ -118,67 +119,69 @@
</geometry>
</collision>
</link>


</xacro:if>

<!-- JOINTS -->

<link name="kitchen_walls"/>

<joint name="walls_main_joint" type="fixed">
<xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="kitchen_walls"/>
</joint>

<joint name="wall_1_joint" type="fixed">
<origin xyz="2.38151 -2.516 0" rpy="0 -0 3.14159" />
<parent link="kitchen_walls"/>
<child link="kitchen_wall_1"/>
</joint>
<!--
<!--
<joint name="wall_1_joint" type="fixed">
<origin xyz="1 0.562175 0" rpy="0 0 0" />
<parent link="kitchen_walls"/>
<child link="kitchen_wall_1"/>
</joint>
-->
-->
<joint name="wall_2_joint" type="fixed">
<origin xyz="2.87551 0 0" rpy="0 -0 1.5708" />
<parent link="kitchen_walls"/>
<child link="kitchen_wall_2"/>
</joint>

<joint name="wall_3_joint" type="fixed">
<origin xyz="0 2.516 0" rpy="0 -0 3.14159" />
<parent link="kitchen_walls"/>
<child link="kitchen_wall_3"/>
</joint>

<joint name="wall_4_joint" type="fixed">
<origin xyz="-2.87549 0.466 0" rpy="0 0 -1.5708" />
<parent link="kitchen_walls"/>
<child link="kitchen_wall_4"/>
</joint>

<joint name="wall_5_joint" type="fixed">
<origin xyz="-1.81385 -1.70376 0" rpy="0 -0 0.000157" />
<parent link="kitchen_walls"/>
<child link="kitchen_wall_5"/>
</joint>

<joint name="wall_6_joint" type="fixed">
<origin xyz="-0.65 -2.12851 0" rpy="0 0 -1.5708" />
<parent link="kitchen_walls"/>
<child link="kitchen_wall_6"/>
</joint>

<xacro:if value="${include_wall_7 == 'true'}">
<joint name="wall_7_joint" type="fixed">
<origin xyz="1.01271 -2.556 0" rpy="0 -0 3.14159" />
<parent link="kitchen_walls"/>
<child link="kitchen_wall_7"/>
</joint>

</xacro:if>
<gazebo reference="kitchen_wall_6">
<material>Gazebo/DarkGrey</material>
</gazebo>
</macro>
</robot>
</robot>
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