🧹 Formats urdf

simulation/resources/spot.urdf

@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <robot name="rex" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <material name="yellow">
+    <material name="white">
-    <color rgba="0.92 0.83 0.0 1"/>
+        <color rgba="1 1 1 1" />
     </material>
     <material name="black">
         <color rgba="0.1 0.1 0.1 1" />
@@ -32,33 +32,6 @@
         </inertial>
     </link>
 
-<!--  @TODO add lidar sensor-->
-  <!-- Lidar Backpack -->
-<!--  <link name="lidar_link">-->
-<!--    <visual>-->
-<!--      <geometry>-->
-<!--        <mesh filename="stl/rplidar_main.STL" scale="0.001 0.001 0.001"/>-->
-<!--      </geometry>-->
-<!--      <material name="black"/>-->
-<!--      <origin rpy="1.57075 0 0" xyz="-0.06425 0.02885 0"/>-->
-<!--    </visual>-->
-<!--    <collision>-->
-<!--      <geometry>-->
-<!--        <box size="0.0985 0.0577 0.07"/>-->
-<!--      </geometry>-->
-<!--      <origin rpy="0 0 0" xyz="0 0 0"/>-->
-<!--    </collision>-->
-<!--    <inertial>-->
-<!--      <mass value="0.50"/>-->
-<!--      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>-->
-<!--    </inertial>-->
-<!--  </link>-->
-<!--  <joint name="base_lidar" type="fixed">-->
-<!--    <parent link="base_link"/>-->
-<!--    <child link="lidar_link"/>-->
-<!--    <origin xyz="0 0 0.035"/>-->
-<!--  </joint>-->
-
     <!-- create head & tail -->
     <link name="chassis_front_link">
         <visual>
@@ -66,7 +39,7 @@
                 <mesh filename="stl/frontpart.stl" scale="0.001 0.001 0.001" />
             </geometry>
             <origin rpy="0 0 0" xyz="-0.040 -0.060 -0.0140" />
-      <material name="yellow"/>
+            <material name="white" />
         </visual>
         <collision>
             <geometry>
@@ -89,7 +62,7 @@
                 <mesh filename="stl/backpart.stl" scale="0.001 0.001 0.001" />
             </geometry>
             <origin rpy="0 0 0" xyz="-0.040 -0.060 -0.0140" />
-      <material name="yellow"/>
+            <material name="white" />
         </visual>
         <collision>
             <geometry>
@@ -133,7 +106,7 @@
                 <mesh filename="stl/larm_cover.stl" scale="0.001 0.001 0.001" />
             </geometry>
             <origin rpy="0 0 0" xyz="-0.125 0.04 -0.02" />
-      <material name="yellow"/>
+            <material name="white" />
         </visual>
         <inertial>
             <mass value="0.5" />
@@ -258,7 +231,7 @@
                 <mesh filename="stl/rarm_cover.stl" scale="0.001 0.001 0.001" />
             </geometry>
             <origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02" />
-      <material name="yellow"/>
+            <material name="white" />
         </visual>
         <inertial>
             <mass value="0.5" />
@@ -383,7 +356,7 @@
                 <mesh filename="stl/larm_cover.stl" scale="0.001 0.001 0.001" />
             </geometry>
             <origin rpy="0 0 0" xyz="-0.125 0.04 -0.02" />
-      <material name="yellow"/>
+            <material name="white" />
         </visual>
         <inertial>
             <mass value="0.5" />
@@ -508,7 +481,7 @@
                 <mesh filename="stl/rarm_cover.stl" scale="0.001 0.001 0.001" />
             </geometry>
             <origin rpy="0 0 0" xyz="-0.125 -0.15 -0.02" />
-      <material name="yellow"/>
+            <material name="white" />
         </visual>
         <inertial>
             <mass value="0.5" />