diff --git a/bioloid_description/urdf/ceabot/obstacle.xacro b/bioloid_description/urdf/ceabot/obstacle.xacro
index 2b8677a3dfa7bb9df73e5a8ab7c40d4ed3449d16..9d3466f4ffc1996b05437d1a42f68a534d6b673f 100644
--- a/bioloid_description/urdf/ceabot/obstacle.xacro
+++ b/bioloid_description/urdf/ceabot/obstacle.xacro
@@ -32,19 +32,19 @@
<child link="${name}_link"/>
</joint>
- <xacro:qrcode name="${name}_north" parent="${name}" code="${north_code}">
+ <xacro:qrcode name="${name}_north" parent="${name}" code="${north_code}" size="0.084">
<origin xyz="0.0 0.375 0.126" rpy="1.5707 0 0" />
</xacro:qrcode>
- <xacro:qrcode name="${name}_south" parent="${name}" code="${south_code}">
+ <xacro:qrcode name="${name}_south" parent="${name}" code="${south_code}" size="0.084">
<origin xyz="0.0 0.375 -0.126" rpy="-1.5707 0 0" />
</xacro:qrcode>
- <xacro:qrcode name="${name}_west" parent="${name}" code="${west_code}">
+ <xacro:qrcode name="${name}_west" parent="${name}" code="${west_code}" size="0.084">
<origin xyz="0.126 0.375 0" rpy="3.14159 0 1.5707" />
</xacro:qrcode>
- <xacro:qrcode name="${name}_east" parent="${name}" code="${east_code}">
+ <xacro:qrcode name="${name}_east" parent="${name}" code="${east_code}" size="0.084">
<origin xyz="-0.126 0.375 0.0" rpy="3.14159 0 -1.5707" />
</xacro:qrcode>
diff --git a/bioloid_description/urdf/ceabot/obstacle_vis.xacro b/bioloid_description/urdf/ceabot/obstacle_vis.xacro
index 7a3bcdf3b6d68014be26e21ac159dc5e549d5c74..23a6c025ff0f329bf294857748f1b44b747d48fa 100644
--- a/bioloid_description/urdf/ceabot/obstacle_vis.xacro
+++ b/bioloid_description/urdf/ceabot/obstacle_vis.xacro
@@ -32,7 +32,7 @@
<child link="${name}_link"/>
</joint>
- <xacro:qrcode name="${name}_code" parent="${name}" code="${code}">
+ <xacro:qrcode name="${name}_code" parent="${name}" code="${code}" size="0.084">
<origin xyz="0.0 0.375 0.126" rpy="1.5707 0 0" />
</xacro:qrcode>
diff --git a/bioloid_description/urdf/ceabot/obstacles_env.xacro b/bioloid_description/urdf/ceabot/obstacles_env.xacro
index eec111666d1200d17b03ed807399c2365d59d9f0..abcb2281c289642e3343579c5c84e0594a796cd2 100755
--- a/bioloid_description/urdf/ceabot/obstacles_env.xacro
+++ b/bioloid_description/urdf/ceabot/obstacles_env.xacro
@@ -13,61 +13,61 @@
<xacro:obstacle name="obstacle5" parent="obstacle_base" grid_x="4" grid_y="4" north_code="N5" south_code="S5" east_code="E5" west_code="W5"/>
<xacro:obstacle name="obstacle6" parent="obstacle_base" grid_x="5" grid_y="5" north_code="N6" south_code="S6" east_code="E6" west_code="W6"/>
- <xacro:qrcode name="contour_west_25" parent="obstacle_base" code="W25">
+ <xacro:qrcode name="contour_west_25" parent="obstacle_base" code="W25" size="0.084">
<origin xyz="0.016 0.265 0.375" rpy="0 0 -1.5707" />
</xacro:qrcode>
- <xacro:qrcode name="contour_west_75" parent="obstacle_base" code="W75">
+ <xacro:qrcode name="contour_west_75" parent="obstacle_base" code="W75" size="0.084">
<origin xyz="0.016 0.765 0.375" rpy="0 0 -1.5707" />
</xacro:qrcode>
- <xacro:qrcode name="contour_west_125" parent="obstacle_base" code="W125">
+ <xacro:qrcode name="contour_west_125" parent="obstacle_base" code="W125" size="0.084">
<origin xyz="0.016 1.265 0.375" rpy="0 0 -1.5707" />
</xacro:qrcode>
- <xacro:qrcode name="contour_west_175" parent="obstacle_base" code="W175">
+ <xacro:qrcode name="contour_west_175" parent="obstacle_base" code="W175" size="0.084">
<origin xyz="0.016 1.765 0.375" rpy="0 0 -1.5707" />
</xacro:qrcode>
- <xacro:qrcode name="contour_west_225" parent="obstacle_base" code="W225">
+ <xacro:qrcode name="contour_west_225" parent="obstacle_base" code="W225" size="0.084">
<origin xyz="0.016 2.265 0.375" rpy="0 0 -1.5707" />
</xacro:qrcode>
- <xacro:qrcode name="contour_east_25" parent="obstacle_base" code="W25">
+ <xacro:qrcode name="contour_east_25" parent="obstacle_base" code="W25" size="0.084">
<origin xyz="1.999 0.265 0.375" rpy="0 0 1.5707" />
</xacro:qrcode>
- <xacro:qrcode name="contour_east_75" parent="obstacle_base" code="W75">
+ <xacro:qrcode name="contour_east_75" parent="obstacle_base" code="W75" size="0.084">
<origin xyz="1.999 0.765 0.375" rpy="0 0 1.5707" />
</xacro:qrcode>
- <xacro:qrcode name="contour_east_125" parent="obstacle_base" code="W125">
+ <xacro:qrcode name="contour_east_125" parent="obstacle_base" code="W125" size="0.084">
<origin xyz="1.999 1.265 0.375" rpy="0 0 1.5707" />
</xacro:qrcode>
- <xacro:qrcode name="contour_east_175" parent="obstacle_base" code="W175">
+ <xacro:qrcode name="contour_east_175" parent="obstacle_base" code="W175" size="0.084">
<origin xyz="1.999 1.765 0.375" rpy="0 0 1.5707" />
</xacro:qrcode>
- <xacro:qrcode name="contour_east_225" parent="obstacle_base" code="W225">
+ <xacro:qrcode name="contour_east_225" parent="obstacle_base" code="W225" size="0.084">
<origin xyz="1.999 2.265 0.375" rpy="0 0 1.5707" />
</xacro:qrcode>
- <xacro:qrcode name="contour_north_25" parent="obstacle_base" code="N25">
+ <xacro:qrcode name="contour_north_25" parent="obstacle_base" code="N25" size="0.084">
<origin xyz="0.265 2.514 0.375" rpy="0 0 3.14159" />
</xacro:qrcode>
- <xacro:qrcode name="contour_north_75" parent="obstacle_base" code="N75">
+ <xacro:qrcode name="contour_north_75" parent="obstacle_base" code="N75" size="0.084">
<origin xyz="0.765 2.514 0.375" rpy="0 0 3.14159" />
</xacro:qrcode>
- <xacro:qrcode name="contour_north_125" parent="obstacle_base" code="N125">
+ <xacro:qrcode name="contour_north_125" parent="obstacle_base" code="N125" size="0.084">
<origin xyz="1.265 2.514 0.375" rpy="0 0 3.14159" />
</xacro:qrcode>
- <xacro:qrcode name="contour_north_175" parent="obstacle_base" code="N175">
+ <xacro:qrcode name="contour_north_175" parent="obstacle_base" code="N175" size="0.084">
<origin xyz="1.765 2.514 0.375" rpy="0 0 3.14159" />
</xacro:qrcode>
- <xacro:qrcode name="contour_south_25" parent="obstacle_base" code="S25">
+ <xacro:qrcode name="contour_south_25" parent="obstacle_base" code="S25" size="0.084">
<origin xyz="0.265 0.016 0.375" rpy="0 0 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_south_75" parent="obstacle_base" code="S75">
+ <xacro:qrcode name="contour_south_75" parent="obstacle_base" code="S75" size="0.084">
<origin xyz="0.765 0.016 0.375" rpy="0 0 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_south_125" parent="obstacle_base" code="S125">
+ <xacro:qrcode name="contour_south_125" parent="obstacle_base" code="S125" size="0.084">
<origin xyz="1.265 0.016 0.375" rpy="0 0 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_south_175" parent="obstacle_base" code="S175">
+ <xacro:qrcode name="contour_south_175" parent="obstacle_base" code="S175" size="0.084">
<origin xyz="1.765 0.016 0.375" rpy="0 0 0" />
</xacro:qrcode>
</robot>
diff --git a/bioloid_description/urdf/ceabot/obstacles_env_empty.xacro b/bioloid_description/urdf/ceabot/obstacles_env_empty.xacro
index f2a8df2bc7b9ac55d7d72604f6ceb3a2068de532..f2d642fcdd0d48b5ba58b4e578b5a3d39ce56387 100755
--- a/bioloid_description/urdf/ceabot/obstacles_env_empty.xacro
+++ b/bioloid_description/urdf/ceabot/obstacles_env_empty.xacro
@@ -7,61 +7,61 @@
<xacro:obstacle_base name="obstacle_base"/>
- <xacro:qrcode name="contour_west_25" parent="obstacle_base" code="W25">
+ <xacro:qrcode name="contour_west_25" parent="obstacle_base" code="W25" size="0.2">
<origin xyz="0.016 0.265 0.375" rpy="0 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_west_75" parent="obstacle_base" code="W75">
+ <xacro:qrcode name="contour_west_75" parent="obstacle_base" code="W75" size="0.2">
<origin xyz="0.016 0.765 0.375" rpy="0 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_west_125" parent="obstacle_base" code="W125">
+ <xacro:qrcode name="contour_west_125" parent="obstacle_base" code="W125" size="0.2">
<origin xyz="0.016 1.265 0.375" rpy="0 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_west_175" parent="obstacle_base" code="W175">
+ <xacro:qrcode name="contour_west_175" parent="obstacle_base" code="W175" size="0.2">
<origin xyz="0.016 1.765 0.375" rpy="0 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_west_225" parent="obstacle_base" code="W225">
+ <xacro:qrcode name="contour_west_225" parent="obstacle_base" code="W225" size="0.2">
<origin xyz="0.016 2.265 0.375" rpy="0 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_east_25" parent="obstacle_base" code="E25">
+ <xacro:qrcode name="contour_east_25" parent="obstacle_base" code="E25" size="0.2">
<origin xyz="1.999 0.265 0.375" rpy="3.14159 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_east_75" parent="obstacle_base" code="E75">
+ <xacro:qrcode name="contour_east_75" parent="obstacle_base" code="E75" size="0.2">
<origin xyz="1.999 0.765 0.375" rpy="3.14159 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_east_125" parent="obstacle_base" code="E125">
+ <xacro:qrcode name="contour_east_125" parent="obstacle_base" code="E125" size="0.2">
<origin xyz="1.999 1.265 0.375" rpy="3.14159 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_east_175" parent="obstacle_base" code="E175">
+ <xacro:qrcode name="contour_east_175" parent="obstacle_base" code="E175" size="0.2">
<origin xyz="1.999 1.765 0.375" rpy="3.14159 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_east_225" parent="obstacle_base" code="E225">
+ <xacro:qrcode name="contour_east_225" parent="obstacle_base" code="E225" size="0.2">
<origin xyz="1.999 2.265 0.375" rpy="3.14159 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_north_25" parent="obstacle_base" code="N25">
+ <xacro:qrcode name="contour_north_25" parent="obstacle_base" code="N25" size="0.2">
<origin xyz="0.265 2.514 0.375" rpy="-1.5707 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_north_75" parent="obstacle_base" code="N75">
+ <xacro:qrcode name="contour_north_75" parent="obstacle_base" code="N75" size="0.2">
<origin xyz="0.765 2.514 0.375" rpy="-1.5707 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_north_125" parent="obstacle_base" code="N125">
+ <xacro:qrcode name="contour_north_125" parent="obstacle_base" code="N125" size="0.2">
<origin xyz="1.265 2.514 0.375" rpy="-1.5707 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_north_175" parent="obstacle_base" code="N175">
+ <xacro:qrcode name="contour_north_175" parent="obstacle_base" code="N175" size="0.2">
<origin xyz="1.765 2.514 0.375" rpy="-1.5707 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_south_25" parent="obstacle_base" code="S25">
+ <xacro:qrcode name="contour_south_25" parent="obstacle_base" code="S25" size="0.2">
<origin xyz="0.265 0.016 0.375" rpy="1.5707 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_south_75" parent="obstacle_base" code="S75">
+ <xacro:qrcode name="contour_south_75" parent="obstacle_base" code="S75" size="0.2">
<origin xyz="0.765 0.016 0.375" rpy="1.5707 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_south_125" parent="obstacle_base" code="S125">
+ <xacro:qrcode name="contour_south_125" parent="obstacle_base" code="S125" size="0.2">
<origin xyz="1.265 0.016 0.375" rpy="1.5707 -1.5707 0" />
</xacro:qrcode>
- <xacro:qrcode name="contour_south_175" parent="obstacle_base" code="S175">
+ <xacro:qrcode name="contour_south_175" parent="obstacle_base" code="S175" size="0.2">
<origin xyz="1.765 0.016 0.375" rpy="1.5707 -1.5707 0" />
</xacro:qrcode>
</robot>
diff --git a/bioloid_description/urdf/materials.xacro b/bioloid_description/urdf/materials.xacro
new file mode 100755
index 0000000000000000000000000000000000000000..9a3fbcb11b1ed31c71f9be9a3791c1533890ee72
--- /dev/null
+++ b/bioloid_description/urdf/materials.xacro
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<root>
+
+ <material name="black">
+ <color rgba="0.0 0.0 0.0 1.0"/>
+ </material>
+
+ <material name="blue">
+ <color rgba="0.0 0.0 0.8 1.0"/>
+ </material>
+
+ <material name="green">
+ <color rgba="0.0 0.8 0.0 1.0"/>
+ </material>
+
+ <material name="grey">
+ <color rgba="0.2 0.2 0.2 1.0"/>
+ </material>
+
+ <material name="white">
+ <color rgba="1.0 1.0 1.0 1.0"/>
+ </material>
+
+</root>
diff --git a/bioloid_description/urdf/qrcodes/qrcode.xacro b/bioloid_description/urdf/qrcodes/qrcode.xacro
index 4ab2e29faca50b2fb2b6779a619447bb041bcded..4541ca46ca8203ca49447209f3b431d3382fcf48 100644
--- a/bioloid_description/urdf/qrcodes/qrcode.xacro
+++ b/bioloid_description/urdf/qrcodes/qrcode.xacro
@@ -2,7 +2,7 @@
<root xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:macro name="qrcode" params="name parent code *origin">
+ <xacro:macro name="qrcode" params="name parent code size *origin">
<!-- obstacle -->
<link name="${code}">
<inertial>
@@ -13,13 +13,13 @@
<visual>
<origin xyz="0 0 0" rpy="-1.5707 0 1.5707"/>
<geometry>
- <mesh filename="package://bioloid_description/urdf/qrcodes/${code}.dae" scale="0.725 0.725 0.725"/>
+ <mesh filename="package://bioloid_description/urdf/qrcodes/${code}.dae" scale="${size*8.63} ${size*8.63} ${size*8.63}"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="-1.5707 0 1.5707"/>
<geometry>
- <mesh filename="package://bioloid_description/urdf/qrcodes/${code}.dae" scale="0.725 0.725 0.725"/>
+ <mesh filename="package://bioloid_description/urdf/qrcodes/${code}.dae" scale="${size*8.63} ${size*8.63} ${size*8.63}"/>
</geometry>
</collision>
</link>