Commit 3db32b7d authored by Johannes Bier's avatar Johannes Bier 💬
Browse files

Add maize and beans to template

parent 878234ae
......@@ -365,6 +365,159 @@
<kinematic>0</kinematic>
</link>
</model>
{% elif coordinate.type == 'maize_01' %}
<model name='{{ coordinate.name }}'>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0.5 0 -0 0</pose>
<link name='{{ coordinate.name }}_link'>
<inertial>
<mass>{{ coordinate.mass }}</mass>
<inertia>
<ixx>{{ coordinate.inertia.ixx }}</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>{{ coordinate.inertia.iyy }}</iyy>
<iyz>0</iyz>
<izz>{{ coordinate.inertia.izz }}</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<cylinder>
<radius>{{ coordinate.radius }}</radius>
<length>0.6</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>{{ package_path }}/meshes/maize/maize_01.dae</uri>
<scale>{{ 2*coordinate.radius }} {{ 2*coordinate.radius }} {{ 2*coordinate.radius }}</scale>
</mesh>
</geometry>
<material>
</material>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
{% elif coordinate.type == 'maize_02' %}
<model name='{{ coordinate.name }}'>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0.5 0 -0 0</pose>
<link name='{{ coordinate.name }}_link'>
<inertial>
<mass>{{ coordinate.mass }}</mass>
<inertia>
<ixx>{{ coordinate.inertia.ixx }}</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>{{ coordinate.inertia.iyy }}</iyy>
<iyz>0</iyz>
<izz>{{ coordinate.inertia.izz }}</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<cylinder>
<radius>{{ coordinate.radius }}</radius>
<length>0.6</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>{{ package_path }}/meshes/maize/maize_02.dae</uri>
<scale>{{ 2*coordinate.radius }} {{ 2*coordinate.radius }} {{ 2*coordinate.radius }}</scale>
</mesh>
</geometry>
<material>
</material>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
{% elif coordinate.type == 'beans_01' %}
<model name='{{ coordinate.name }}'>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0.5 0 -0 0</pose>
<link name='{{ coordinate.name }}_link'>
<inertial>
<mass>{{ coordinate.mass }}</mass>
<inertia>
<ixx>{{ coordinate.inertia.ixx }}</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>{{ coordinate.inertia.iyy }}</iyy>
<iyz>0</iyz>
<izz>{{ coordinate.inertia.izz }}</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<cylinder>
<radius>{{ coordinate.radius }}</radius>
<length>0.6</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<uri>{{ package_path }}/meshes/beans/beans_01.dae</uri>
<scale>{{ 2*coordinate.radius }} {{ 2*coordinate.radius }} {{ 2*coordinate.radius }}</scale>
</mesh>
</geometry>
<material>
</material>
</visual>
<self_collide>0</self_collide>
<enable_wind>0</enable_wind>
<kinematic>0</kinematic>
</link>
</model>
{% endif %}
{% endfor %}
<gui fullscreen='0'>
......
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