Added ground plane to urdf

UniversalRobots · Oct 29, 2024 · 753b171 · 753b171
1 parent fa11723
commit 753b171
Showing 1 changed file with 24 additions and 0 deletions.
diff --git a/urdf/ur.urdf.xacro b/urdf/ur.urdf.xacro
@@ -57,6 +57,30 @@
    <!-- create link fixed to the "world" -->
    <link name="world" />
 
+   <link name="ground_plane">
+     <visual>
+       <origin rpy="0 0 0" xyz="0 0 0"/>
+       <geometry>
+         <box size="5 5 0"/>
+       </geometry>
+       <material name="ground_white">
+         <color rgba="1 1 1 0.5"/>
+       </material>
+     </visual>
+     <collision>
+       <origin rpy="0 0 0" xyz="0 0 0"/>
+       <geometry>
+         <box size="5 5 0"/>
+       </geometry>
+     </collision>
+   </link>
+
+   <joint name="ground_plane_joint" type="fixed">
+     <origin xyz="0 0 -0.01" rpy="0 0 0"/>
+     <parent link="world"/>
+     <child link="ground_plane"/>
+   </joint>
+
    <!-- arm -->
    <xacro:ur_robot
      name="$(arg name)"