for_report.urdf

<?xml version="1.0"?>
<robot name="man">

  <material name="blue">
    <color rgba="${68/255} ${108/255} ${179/255} 1"/>
  </material>


  <material name="yellow">
    <color rgba="${238/255} ${238/255} ${0/255} 1"/>
  </material>

  <material name="sunset">
    <!--color rgba="246, 71, 71, 1"/-->
    <!-- color rgba="0 0 1 1"/ -->
    <color rgba="${246/255} ${71/255} ${71/255} 1"/>
  </material>
  
  <!-- first -->
  <link name="world"/>

  <joint name="world_leg" type="fixed">
    <parent link="world"/>
    <child link="leg"/>
    <origin xyz="0 0 0.3" rpy="0 0 0"/>
  </joint>


  <link name="leg">
    <visual>
      <geometry>
        <cylinder length="0.6" radius="0.2"/>
      </geometry>
      <material name="sunset"/>
    </visual>
  </link>

  
  <!-- second -->
  <joint name="leg_body" type="fixed">
    <parent link="leg"/>
    <child link="body"/>
    <origin xyz="0 0 0.55" rpy="0 0 0"/>
  </joint>

  <link name="body">
    <visual>
      <geometry>
        <box size="0.4 0.4 0.5"/>
      </geometry>
      <material name="blue"/>
    </visual>
  </link>

  <!-- third -->
  <joint name="body_head" type="fixed">
    <parent link="body"/>
    <child link="head"/>
    <origin xyz="0 0 0.4" rpy="0 0 0"/>
  </joint>

  <link name="head">
    <visual>
      <geometry>
        <sphere radius="0.15"/>
      </geometry>
      <material name="yellow"/>
    </visual>
  </link>

  <!-- fourth -->
  <joint name="body_rightArm" type="fixed">
    <parent link="body"/>
    <child link="rightArm"/>
    <origin xyz="0 -0.2 0.1" rpy="${-1.57*1.5} 0 0"/>
  </joint>

  <link name="rightArm">
    <visual>
      <geometry>
        <box size="0.08 0.08 0.4"/>
      </geometry>
      <material name="yellow"/>
      <origin xyz="0 -0.04 -0.2"/>
    </visual>
  </link> 
  
  <!-- fifth -->
  <joint name="body_leftArm" type="fixed">
    <parent link="body"/>
    <child link="leftArm"/>
    <origin xyz="0 0.2 0.1" rpy="${1.57*0.75} 0 0"/>
  </joint>

  <link name="leftArm">
    <visual>
      <geometry>
        <box size="0.08 0.08 0.4"/>
      </geometry>
      <material name="yellow"/>
      <origin xyz="0 0.04 -0.2"/>
    </visual>
  </link> 
  

</robot>