Commit d5ec5128 authored by Johannes Bier's avatar Johannes Bier 💬
Browse files

Add yaw param to template and fix collision pose

parent 37a1b924
......@@ -163,7 +163,7 @@
</model>
{% elif coordinate.type == 'pumpkin_01' %}
<model name='{{ coordinate.name }}'>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0.5 0 -0 0</pose>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0.5 0 -0 {{ coordinate.yaw }}</pose>
<link name='{{ coordinate.name }}_link'>
<inertial>
<mass>{{ coordinate.mass }}</mass>
......@@ -214,7 +214,7 @@
</model>
{% elif coordinate.type == 'pumpkin_02' %}
<model name='{{ coordinate.name }}'>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0.5 0 -0 0</pose>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0.5 0 -0 {{ coordinate.yaw }}</pose>
<link name='{{ coordinate.name }}_link'>
<inertial>
<mass>{{ coordinate.mass }}</mass>
......@@ -265,7 +265,7 @@
</model>
{% elif coordinate.type == 'pumpkin_03' %}
<model name='{{ coordinate.name }}'>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0.5 0 -0 0</pose>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0.5 0 -0 {{ coordinate.yaw }}</pose>
<link name='{{ coordinate.name }}_link'>
<inertial>
<mass>{{ coordinate.mass }}</mass>
......@@ -316,7 +316,7 @@
</model>
{% elif coordinate.type == 'pumpkin_04' %}
<model name='{{ coordinate.name }}'>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0.5 0 -0 0</pose>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0.5 0 -0 {{ coordinate.yaw }}</pose>
<link name='{{ coordinate.name }}_link'>
<inertial>
<mass>{{ coordinate.mass }}</mass>
......@@ -367,7 +367,7 @@
</model>
{% elif coordinate.type == 'maize_01' %}
<model name='{{ coordinate.name }}'>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0 0 -0 0</pose>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0 0 -0 {{ coordinate.yaw }}</pose>
<link name='{{ coordinate.name }}_link'>
<inertial>
<mass>{{ coordinate.mass }}</mass>
......@@ -382,6 +382,7 @@
</inertial>
<collision name='collision'>
<geometry>
<pose>0 0 0.3 0 -0 0</pose>
<cylinder>
<radius>{{ coordinate.radius }}</radius>
<length>0.6</length>
......@@ -418,7 +419,7 @@
</model>
{% elif coordinate.type == 'maize_02' %}
<model name='{{ coordinate.name }}'>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0 0 -0 0</pose>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0 0 -0 {{ coordinate.yaw }}</pose>
<link name='{{ coordinate.name }}_link'>
<inertial>
<mass>{{ coordinate.mass }}</mass>
......@@ -433,6 +434,7 @@
</inertial>
<collision name='collision'>
<geometry>
<pose>0 0 0.3 0 -0 0</pose>
<cylinder>
<radius>{{ coordinate.radius }}</radius>
<length>0.6</length>
......@@ -467,9 +469,9 @@
<kinematic>0</kinematic>
</link>
</model>
{% elif coordinate.type == 'beans_01' %}
{% elif coordinate.type == 'beans_01' %}
<model name='{{ coordinate.name }}'>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0 0 -0 0</pose>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0 0 -0 {{ coordinate.yaw }}</pose>
<link name='{{ coordinate.name }}_link'>
<inertial>
<mass>{{ coordinate.mass }}</mass>
......@@ -484,6 +486,7 @@
</inertial>
<collision name='collision'>
<geometry>
<pose>0 0 0.3 0 -0 0</pose>
<cylinder>
<radius>{{ coordinate.radius }}</radius>
<length>0.6</length>
......
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