let urdf = r#"<robot name="test">"
<joint name="j1" type="fixed">
<parent link="l1"/>
<child link="l2"/>
</joint>
<joint name="j2" type="fixed">
<parent link="l1"/>
<child link="l2"/>
</joint>
<link name="l1">
<visual>
<geometry>
<sphere radius="1.349"/>
</geometry>
<material name="">
<color rgba="1.0 0.65 0.0 0.01" />
</material>
</visual>
<inertial>
<mass value="8.4396"/>
<inertia ixx="0.087" ixy="0.14" ixz="0.912" iyy="0.763" iyz="0.0012" izz="0.908"/>
</inertial>
</link>
<link name="l2">
<visual>
<geometry>
<cylinder radius="3.349" length="7.5490"/>
</geometry>
<material name="red ish">
<color rgba="1 0.0001 0.0 1" />
</material>
</visual>
</link>
</robot>"#;
&l.visual = [
Visual {
name: Some(
"",
),
origin: Pose {
xyz: Vec3(
[
0.0,
0.0,
0.0,
],
),
rpy: Vec3(
[
0.0,
0.0,
0.0,
],
),
},
geometry: Sphere {
radius: 1.349,
},
material: Some(
Material {
name: "",
color: None,
texture: None,
},
),
},
]
&l.visual = [
Visual {
name: Some(
"red ish",
),
origin: Pose {
xyz: Vec3(
[
0.0,
0.0,
0.0,
],
),
rpy: Vec3(
[
0.0,
0.0,
0.0,
],
),
},
geometry: Cylinder {
radius: 3.349,
length: 7.549,
},
material: Some(
Material {
name: "",
color: None,
texture: None,
},
),
},
]