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change colors
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@mlogoth
mlogoth committed Mar 19, 2020
1 parent f0e3b17 commit 9eb9cfe
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Showing 2 changed files with 73 additions and 37 deletions.
20 changes: 10 additions & 10 deletions pa10_description/urdf/pa10csl.gazebo
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Original file line number Diff line number Diff line change
Expand Up @@ -15,60 +15,60 @@
<gazebo reference="base_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<material>Gazebo/Grey</material>
<material name="pa10_blue"/>
</gazebo>


<!-- Link1 -->
<gazebo reference="link_shoulder_1">
<material>Gazebo/Blue</material>
<material name="grey"/>
</gazebo>

<!-- Link2 -->
<gazebo reference="link_shoulder_2">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<material>Gazebo/Grey</material>
<material name="pa10_blue"/>
</gazebo>

<!-- Link3 -->
<gazebo reference="link_elbow_1">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<material>Gazebo/Blue</material>
<material name="grey"/>
</gazebo>

<!-- Link4 -->
<gazebo reference="link_elbow_2">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<material>Gazebo/Grey</material>
<material name="pa10_blue"/>
</gazebo>

<!-- Link5 -->
<gazebo reference="link_wrist_1">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<material>Gazebo/Blue</material>
<material name="grey"/>
</gazebo>

<!-- Link6 -->
<gazebo reference="link_wrist_2">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<material>Gazebo/Grey</material>
<material name="pa10_blue"/>
</gazebo>

<gazebo reference="link_wrist_2">
<gazebo reference="link_wrist_3">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<material>Gazebo/Grey</material>
<material name="pa10_blue"/>
</gazebo>

<gazebo reference="link_gripper_base">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<material>Gazebo/Grey</material>
<material name="grey"/>
</gazebo>

<gazebo reference="link_finger_1">
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90 changes: 63 additions & 27 deletions pa10_description/urdf/pa10csl.gazebo.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,10 @@
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<xacro:if value="${is_multiple}">
<robotNamespace>/${nsp}</robotNamespace>
<robotNamespace>/${nsp}</robotNamespace>
</xacro:if>
<xacro:unless value="${is_multiple}">
<robotNamespace></robotNamespace>
<robotNamespace></robotNamespace>
</xacro:unless>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
Expand All @@ -17,87 +17,123 @@
</gazebo>


<!-- base_link -->
<!-- base_link -->
<gazebo reference="base_link">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<material name="pa10_blue">
Gazebo/Grey
</material>
<visual>
<material>
<ambient>0.55 0.85 0.89 1.0</ambient>
<diffuse>.7 .7 .7 1.0</diffuse>
<specular>0.01 0.01 0.01 1.000000 1.500000</specular>
</material>
</visual>
</gazebo>


<!-- Link1 -->
<gazebo reference="link_shoulder_1">
<material>Gazebo/Blue</material>
<visual>
<material>
<ambient>0.88 0.88 0.88 1.0</ambient>
<diffuse>.7 .7 .7 1.0</diffuse>
<specular>0.01 0.01 0.01 1.000000 1.500000</specular>
</material>
</visual>
</gazebo>

<!-- Link2 -->
<gazebo reference="link_shoulder_2">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<material name="pa10_blue">
Gazebo/Grey
</material>
<visual>
<material>
<ambient>0.55 0.85 0.89 1.0</ambient>
<diffuse>.7 .7 .7 1.0</diffuse>
<specular>0.01 0.01 0.01 1.000000 1.500000</specular>
</material>
</visual>
</gazebo>

<!-- Link3 -->
<gazebo reference="link_elbow_1">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<material>Gazebo/Blue</material>
<visual>
<material>
<ambient>0.88 0.88 0.88 1.0</ambient>
<diffuse>.7 .7 .7 1.0</diffuse>
<specular>0.01 0.01 0.01 1.000000 1.500000</specular>
</material>
</visual>
</gazebo>

<!-- Link4 -->
<gazebo reference="link_elbow_2">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<material name="pa10_blue">
Gazebo/Grey
</material>
<visual>
<material>
<ambient>0.55 0.85 0.89 1.0</ambient>
<diffuse>.7 .7 .7 1.0</diffuse>
<specular>0.01 0.01 0.01 1.000000 1.500000</specular>
</material>
</visual>
</gazebo>

<!-- Link5 -->
<gazebo reference="link_wrist_1">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<material>Gazebo/Blue</material>
<visual>
<material>
<ambient>0.88 0.88 0.88 1.0</ambient>
<diffuse>.7 .7 .7 1.0</diffuse>
<specular>0.01 0.01 0.01 1.000000 1.500000</specular>
</material>
</visual>
</gazebo>

<!-- Link6 -->
<gazebo reference="link_wrist_2">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<material name="pa10_blue">
Gazebo/Grey
</material>
<visual>
<material>
<ambient>0.55 0.85 0.89 1.0</ambient>
<diffuse>.7 .7 .7 1.0</diffuse>
<specular>0.01 0.01 0.01 1.000000 1.500000</specular>
</material>
</visual>
</gazebo>

<gazebo reference="link_wrist_2">
<gazebo reference="link_wrist_3">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<material>
Gazebo/Blue
</material>
<visual>
<material>
<ambient>0.55 0.85 0.89 1.0</ambient>
<diffuse>.7 .7 .7 1.0</diffuse>
<specular>0.01 0.01 0.01 1.000000 1.500000</specular>
</material>
</visual>
</gazebo>

<gazebo reference="link_gripper_base">
<gazebo reference="link_gripper_base">
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<material>Gazebo/Grey</material>
</gazebo>

<gazebo reference="link_finger_1">
<gazebo reference="link_finger_1">
<mu1>1000.5</mu1>
<mu2>1000.5</mu2>
<material>Gazebo/Orange</material>
</gazebo>

<gazebo reference="link_finger_2">
<gazebo reference="link_finger_2">
<mu1>1000.5</mu1>
<mu2>1000.5</mu2>
<material>Gazebo/Orange</material>
</gazebo>


</robot>

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