a5b859edd3
1: http://wiki.ros.org/urdf/Tutorials/Building%20a%20Visual%20Robot%20Model%20with%20URDF%20from%20Scratch
54 lines
1.1 KiB
XML
54 lines
1.1 KiB
XML
<?xml version="1.0"?>
|
|
<robot name="materials">
|
|
|
|
<material name="blue">
|
|
<color rgba="0 0 0.8 1"/>
|
|
</material>
|
|
|
|
<material name="white">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
|
|
|
|
<link name="base_link">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.6" radius="0.2"/>
|
|
</geometry>
|
|
<material name="blue"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="right_leg">
|
|
<visual>
|
|
<geometry>
|
|
<box size="0.6 0.1 0.2"/>
|
|
</geometry>
|
|
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
|
<material name="white"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<joint name="base_to_right_leg" type="fixed">
|
|
<parent link="base_link"/>
|
|
<child link="right_leg"/>
|
|
<origin xyz="0 -0.22 0.25"/>
|
|
</joint>
|
|
|
|
<link name="left_leg">
|
|
<visual>
|
|
<geometry>
|
|
<box size="0.6 0.1 0.2"/>
|
|
</geometry>
|
|
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
|
<material name="white"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<joint name="base_to_left_leg" type="fixed">
|
|
<parent link="base_link"/>
|
|
<child link="left_leg"/>
|
|
<origin xyz="0 0.22 0.25"/>
|
|
</joint>
|
|
|
|
</robot>
|