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fix urdf color for quadcopter and wam

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This commit is contained in:
Brian Delhaisse
2019-05-03 18:51:17 +02:00
parent cf0fec78e5
commit c237b4dd12
2 changed files with 69 additions and 5 deletions
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pyrobolearn/robots/urdfs/quadcopter/quadcopter.urdf
+36
View File
@@ -4,6 +4,37 @@
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="quad" xmlns:xacro="http://ros.org/wiki/xacro">
<material name="black">
<color rgba="0.2 0.2 0.2 1"/>
</material>
<material name="white">
<color rgba="0.9 0.9 0.9 1"/>
</material>
<material name="dark_gray">
<color rgba="0.3 0.3 0.3 1"/>
</material>
<material name="gray">
<color rgba="0.5 0.5 0.5 1"/>
</material>
<material name="light_gray">
<color rgba="0.7 0.7 0.7 1"/>
</material>
<material name="pure_red">
<color rgba="1.0 0.0 0.0 1"/>
</material>
<material name="red">
<color rgba="0.5 0.1 0.2 1"/>
</material>
<material name="pure_green">
<color rgba="0.0 1.0 0.0 1"/>
</material>
<material name="pure_blue">
<color rgba="0.0 0.0 1.0 1"/>
</material>
<material name="blue">
<color rgba="0.0 0.2 0.8 1"/>
</material>
<!-- Properties -->
<!-- "propeller" -->
<!-- [kg] -->
@@ -44,6 +75,7 @@
<inertia ixx="0.05" ixy="0.0" ixz="0.0" iyy="0.05" iyz="0.0" izz="0.24"/>
</inertial>
<visual>
<material name="black"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/hummingbird.dae" scale="1 1 1"/>
@@ -89,6 +121,7 @@
<inertia ixx="9.75e-07" ixy="0.0" ixz="0.0" iyy="0.000326704166667" iyz="0.0" izz="0.000327604166667"/>
</inertial>
<visual>
<material name="blue"/>
<geometry>
<!-- <cylinder length="0.005" radius="${radius_rotor}"/> -->
<!-- [m] -->
@@ -144,6 +177,7 @@
<inertia ixx="9.75e-07" ixy="0.0" ixz="0.0" iyy="0.000326704166667" iyz="0.0" izz="0.000327604166667"/>
</inertial>
<visual>
<material name="blue"/>
<geometry>
<!-- <cylinder length="0.005" radius="${radius_rotor}"/> -->
<!-- [m] -->
@@ -199,6 +233,7 @@
<inertia ixx="9.75e-07" ixy="0.0" ixz="0.0" iyy="0.000326704166667" iyz="0.0" izz="0.000327604166667"/>
</inertial>
<visual>
<material name="blue"/>
<geometry>
<!-- <cylinder length="0.005" radius="${radius_rotor}"/> -->
<!-- [m] -->
@@ -254,6 +289,7 @@
<inertia ixx="9.75e-07" ixy="0.0" ixz="0.0" iyy="0.000326704166667" iyz="0.0" izz="0.000327604166667"/>
</inertial>
<visual>
<material name="blue"/>
<geometry>
<!-- <cylinder length="0.005" radius="${radius_rotor}"/> -->
<!-- [m] -->
pyrobolearn/robots/urdfs/wam/wam.urdf
+33 -5
View File
@@ -8,6 +8,36 @@
<material name="WAMGrey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
<material name="black">
<color rgba="0.2 0.2 0.2 1"/>
</material>
<material name="white">
<color rgba="0.9 0.9 0.9 1"/>
</material>
<material name="dark_gray">
<color rgba="0.3 0.3 0.3 1"/>
</material>
<material name="gray">
<color rgba="0.5 0.5 0.5 1"/>
</material>
<material name="light_gray">
<color rgba="0.6 0.6 0.6 1"/>
</material>
<material name="pure_red">
<color rgba="1.0 0.0 0.0 1"/>
</material>
<material name="red">
<color rgba="0.5 0.1 0.2 1"/>
</material>
<material name="pure_green">
<color rgba="0.0 1.0 0.0 1"/>
</material>
<material name="pure_blue">
<color rgba="0.0 0.0 1.0 1"/>
</material>
<material name="blue">
<color rgba="0.0 0.2 0.8 1"/>
</material>
<!-- Root link is in the world frame-->
<!--link name="world">
<inertial>
@@ -28,9 +58,7 @@
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<material name="WAMGrey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
<material name="gray"/>
<geometry>
<mesh filename="meshes/base_link_fine.stl"/>
</geometry>
@@ -65,7 +93,7 @@
</inertial>
<visual>
<material name="WAMGrey">
<color rgba="0.6 0.6 0.6 1.0"/>
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<geometry>
<mesh filename="meshes/shoulder_link_fine.stl"/>
@@ -96,7 +124,7 @@
<link name="wam/shoulder_pitch_link">
<visual>
<material name="WAMGrey">
<color rgba="0.6 0.6 0.6 1.0"/>
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<geometry>
<mesh filename="meshes/shoulder_pitch_link_fine.stl"/>