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Unverified Commit 50b86446 authored by Stéphane Caron's avatar Stéphane Caron
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Add right arm visuals

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urdf/simple_humanoid.urdf
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...@@ -271,6 +271,13 @@ ...@@ -271,6 +271,13 @@
<mass value="3"/> <mass value="3"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" /> <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial> </inertial>
<visual>
<origin xyz="0 0.05 0.0" rpy="0 0 0" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
</link> </link>
<link name="RARM_LINK2"> <link name="RARM_LINK2">
...@@ -279,6 +286,20 @@ ...@@ -279,6 +286,20 @@
<mass value="0.6"/> <mass value="0.6"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" /> <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial> </inertial>
<visual>
<origin xyz="0 0.0 0.0" rpy="0 0 1.5708" />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
<visual>
<origin xyz="0 0.0 -0.1065" rpy="0 0 0" />
<geometry>
<box size="0.05 0.05 0.163" />
</geometry>
</visual>
</link> </link>
<link name="RARM_LINK3"> <link name="RARM_LINK3">
...@@ -287,6 +308,13 @@ ...@@ -287,6 +308,13 @@
<mass value="1"/> <mass value="1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" /> <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial> </inertial>
<visual>
<origin xyz="0 0.0 0.05" rpy="1.5708 0 0 " />
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
</link> </link>
<link name="RARM_LINK4"> <link name="RARM_LINK4">
...@@ -295,6 +323,20 @@ ...@@ -295,6 +323,20 @@
<mass value="0.6"/> <mass value="0.6"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" /> <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial> </inertial>
<visual>
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
<material name="WAIST_LINK3_APP"/>
</visual>
<visual>
<origin xyz="0 0.0 -0.0985" rpy="0 0 0" />
<geometry>
<box size="0.05 0.05 0.147" />
</geometry>
</visual>
</link> </link>
<link name="RARM_LINK5"> <link name="RARM_LINK5">
...@@ -303,6 +345,13 @@ ...@@ -303,6 +345,13 @@
<mass value="0.4"/> <mass value="0.4"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" /> <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial> </inertial>
<visual>
<origin xyz="0 0 0.05" rpy="1.5708 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
</link> </link>
<link name="RARM_LINK6"> <link name="RARM_LINK6">
...@@ -311,6 +360,26 @@ ...@@ -311,6 +360,26 @@
<mass value="0.4"/> <mass value="0.4"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" /> <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial> </inertial>
<visual>
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
<visual>
<origin xyz="0 0 0" rpy="0 0 1.5708"/>
<geometry>
<cylinder length="0.05" radius="0.025" />
</geometry>
</visual>
<visual>
<origin xyz="0 0.03 -0.1125" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.03 0.175" />
</geometry>
</visual>
</link> </link>
<!-- VRML link name="RARM_LINK7" --> <!-- VRML link name="RARM_LINK7" -->
...@@ -320,6 +389,13 @@ ...@@ -320,6 +389,13 @@
<mass value="0.4"/> <mass value="0.4"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" /> <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial> </inertial>
<visual>
<origin xyz="0 -0.03 -0.1" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.03 0.15" />
</geometry>
</visual>
</link> </link>
<link name="LLEG_LINK1"> <link name="LLEG_LINK1">
......
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