In this video we’ll finish the pedestal that we created earlier.

The current status of the pedestal is not yet satisfactory to the factory simulation. To make a proper pedestal, some default properties of the primitive shape need to be changed:

• Adjust the size and shape
• Raise the pedestal so that it rests on the floor
• Change the color
• Update its location

The box can be made taller by updating the “size” property (following the x, y, z convention of ROS to configure the width, length and height respectively).

The default origin for primitive shapes is the center of the shape, which means that the box is half sunk into the floor. To fix this, the z offset of the origin needs to be changed to half the height of the pedestal.

Colors are added by adding a “material” element. Since the pedestal is one solid color the “color” element is used to specify the color with rgba.

To change the location of the pedestal, the offset from the world needs to be redefined. This is done by changing the x and y coordinates of the “origin” element within the joint that connects the pedestal to the world (note: not the definition of the origin in the primitive shape itself).