From 697d7f1677dcd85a99fa4fe406066dd70e732f03 Mon Sep 17 00:00:00 2001
From: Wolfgang Merkt <w.merkt@gmail.com>
Date: Thu, 11 Feb 2021 13:10:59 +0000
Subject: [PATCH] Define unknown materials to hide URDF parser warnings
---
robots/hyq_description/robots/hyq_no_sensors.urdf | 6 ++++++
robots/talos_data/robots/talos_full_v2.urdf | 3 +++
robots/talos_data/robots/talos_full_v2_box.urdf | 3 +++
robots/talos_data/robots/talos_left_arm.urdf | 5 +++--
robots/talos_data/robots/talos_reduced.urdf | 3 +++
robots/talos_data/robots/talos_reduced_box.urdf | 3 +++
robots/tiago_description/robots/tiago.urdf | 3 +++
robots/tiago_description/robots/tiago_no_hand.urdf | 3 +++
8 files changed, 27 insertions(+), 2 deletions(-)
diff --git a/robots/hyq_description/robots/hyq_no_sensors.urdf b/robots/hyq_description/robots/hyq_no_sensors.urdf
index 656574a..5295bd4 100644
--- a/robots/hyq_description/robots/hyq_no_sensors.urdf
+++ b/robots/hyq_description/robots/hyq_no_sensors.urdf
@@ -4,6 +4,12 @@
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="hyq" xmlns:xacro="http://ros.org/wiki/xacro">
+ <material name="white">
+ <color rgba="1 1 1 1"/>
+ </material>
+ <material name="black">
+ <color rgba="0 0 0 1"/>
+ </material>
<!-- This argument allows us to load joint sensors that measure the internal wrenches -->
<!-- The following included files set up definitions of parts of the robot body -->
<!-- kin limits (sign ref is RH leg)-->
diff --git a/robots/talos_data/robots/talos_full_v2.urdf b/robots/talos_data/robots/talos_full_v2.urdf
index bfc4815..42afc05 100644
--- a/robots/talos_data/robots/talos_full_v2.urdf
+++ b/robots/talos_data/robots/talos_full_v2.urdf
@@ -13,6 +13,9 @@
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
+ <material name="FlatBlack">
+ <color rgba="0.1 0.1 0.1 1"/>
+ </material>
<!--************************-->
<!-- TORSO_2 (TILT) -->
<!--************************-->
diff --git a/robots/talos_data/robots/talos_full_v2_box.urdf b/robots/talos_data/robots/talos_full_v2_box.urdf
index 7b92eb9..7c90cad 100644
--- a/robots/talos_data/robots/talos_full_v2_box.urdf
+++ b/robots/talos_data/robots/talos_full_v2_box.urdf
@@ -13,6 +13,9 @@
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
+ <material name="FlatBlack">
+ <color rgba="0.1 0.1 0.1 1"/>
+ </material>
<!--************************-->
<!-- TORSO_2 (TILT) -->
<!--************************-->
diff --git a/robots/talos_data/robots/talos_left_arm.urdf b/robots/talos_data/robots/talos_left_arm.urdf
index 74db839..93202e1 100644
--- a/robots/talos_data/robots/talos_left_arm.urdf
+++ b/robots/talos_data/robots/talos_left_arm.urdf
@@ -13,8 +13,9 @@
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
-
-
+ <material name="FlatBlack">
+ <color rgba="0.1 0.1 0.1 1"/>
+ </material>
<link name="arm_left_1_link">
<!-- TODO: Missing reflects of inertias -->
<inertial>
diff --git a/robots/talos_data/robots/talos_reduced.urdf b/robots/talos_data/robots/talos_reduced.urdf
index b2b2fcd..ae53973 100644
--- a/robots/talos_data/robots/talos_reduced.urdf
+++ b/robots/talos_data/robots/talos_reduced.urdf
@@ -13,6 +13,9 @@
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
+ <material name="FlatBlack">
+ <color rgba="0.1 0.1 0.1 1"/>
+ </material>
<!--File includes-->
<!--Constant parameters-->
<!--File includes-->
diff --git a/robots/talos_data/robots/talos_reduced_box.urdf b/robots/talos_data/robots/talos_reduced_box.urdf
index 5b513c7..0a18b6f 100644
--- a/robots/talos_data/robots/talos_reduced_box.urdf
+++ b/robots/talos_data/robots/talos_reduced_box.urdf
@@ -13,6 +13,9 @@
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
+ <material name="FlatBlack">
+ <color rgba="0.1 0.1 0.1 1"/>
+ </material>
<!--File includes-->
<!--Constant parameters-->
<!--File includes-->
diff --git a/robots/tiago_description/robots/tiago.urdf b/robots/tiago_description/robots/tiago.urdf
index 9bd1074..9a8ea78 100644
--- a/robots/tiago_description/robots/tiago.urdf
+++ b/robots/tiago_description/robots/tiago.urdf
@@ -15,6 +15,9 @@
<material name="Hey5DarkGrey">
<color rgba="0.1 0.1 0.1 1.0"/>
</material>
+ <material name="FlatBlack">
+ <color rgba="0.1 0.1 0.1 1"/>
+ </material>
<!--TODO: Check-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
diff --git a/robots/tiago_description/robots/tiago_no_hand.urdf b/robots/tiago_description/robots/tiago_no_hand.urdf
index 8b19561..d088c5d 100644
--- a/robots/tiago_description/robots/tiago_no_hand.urdf
+++ b/robots/tiago_description/robots/tiago_no_hand.urdf
@@ -15,6 +15,9 @@
<material name="Hey5DarkGrey">
<color rgba="0.1 0.1 0.1 1.0"/>
</material>
+ <material name="FlatBlack">
+ <color rgba="0.1 0.1 0.1 1"/>
+ </material>
<!--TODO: Check-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
--
GitLab