In this video, we will edit our hrwros.xacro file further, in order to add more objects to our factory floor.

We can use primitive shapes to model complex geometry in a simple way.

We will use such a primitive shape to create a box we can place our second robot on. Open your hrwros.xacro file in a text editor. Scroll all the way down to the bottom. We will need to add two things: a link, and a joint. You will need to give it a name, and this name is important! It must be unique, and should make the purpose of the link clear.

Before it will become visible in the simulation, we will need to give it a visual element.

With the link and joint in place, we can take a look at what we’ve created. First, save the URDF, then switch to the terminal, and start the visualization launch file.

We’ve added the box, but we still need to modify it a little more before it becomes usable. We have defined the basic structure, and have connected it to the world. We will still need to update the dimensions, specify a color, place it on the floor, and put it next to the bin. We will do that in the next video.