粘贴到 g1_29dof.urdf 文件末尾（在最后一行的 标签之前）

    < material> Gazebo/DarkGrey </ material>   </ gazebo>     < gazebo reference= "left_hip_pitch_link">     < material> Gazebo/DarkGrey </ material>   </ gazebo>     < gazebo reference= "left_ankle_roll_link">     < material> Gazebo/DarkGrey </ material>   </ gazebo>     < gazebo reference= "right_hip_pitch_link">     < material> Gazebo/DarkGrey </ material>   </ gazebo>     < gazebo reference= "right_ankle_roll_link">     < material> Gazebo/DarkGrey </ material>   </ gazebo>     < gazebo reference= "logo_link">     < material> Gazebo/DarkGrey </ material>   </ gazebo>     < gazebo reference= "head_link">     < material> Gazebo/DarkGrey </ material>   </ gazebo>   < gazebo reference= "pelvis_contour_link">     < material> Gazebo/Grey </ material>   </ gazebo>qzsxy.com     < gazebo reference= "left_hip_roll_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_hip_yaw_link">     < material> Gazebo/Grey </ material>   </ gazebo>njyf.com.cn     < gazebo reference= "left_knee_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_ankle_pitch_link">     < material> Gazebo/Grey </ material>   </ gazebo>yousLab.com     < gazebo reference= "right_hip_roll_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "right_hip_yaw_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "right_knee_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "right_ankle_pitch_link">     < material> Gazebo/Grey </ material>   </ gazebo>xyzdh.cn     < gazebo reference= "waist_yaw_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "waist_roll_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "torso_link">     < material> Gazebo/Grey </ material>wap.sdcnjx.cn   </ gazebo>winered.cn     < gazebo reference= "waist_support_link">     < material> Gazebo/Grey </ material>   </ gazebo>wsbbt.com     < gazebo reference= "left_shoulder_pitch_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_shoulder_roll_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_shoulder_yaw_link">     < material> Gazebo/Grey </ material>   </ gazebo> pant.com.cn     < gazebo reference= "left_elbow_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_wrist_roll_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_wrist_pitch_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_wrist_yaw_link">     < material> Gazebo/Grey </ material>   </ gazebo>88363.cn     < gazebo reference= "left_rubber_hand">     < material> Gazebo/Grey </ material>   </ gazebo>   < gazebo reference= "right_shoulder_pitch_link">     < material> Gazebo/Grey </ material>   </ gazebo>suishougou.cn，     < gazebo reference= "right_shoulder_roll_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "right_shoulder_yaw_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "right_elbow_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "right_wrist_roll_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "right_wrist_pitch_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "right_wrist_yaw_link">     < material> Gazebo/Grey </ material>   </ gazebo>xyxdLsm.com，

  < name> g1_description </ name>   < version> 0.0.1 </ version>   < description> The g1_description package </ description>   < maintainer email= "user@todo.todo"> User </ maintainer>   < license> TODO </ license>   < buildtool_depend> catkin </ buildtool_depend>   < depend> roscpp </ depend>   < depend> rospy </ depend>   < depend> std_msgs </ depend>   < depend> urdf </ depend>   < depend> xacro </ depend>     < exec_depend> gazebo_ros </ exec_depend>   < exec_depend> joint_state_publisher </ exec_depend>   < exec_depend> robot_state_publisher </ exec_depend>   < exec_depend> rviz </ exec_depend>529529.cn   < export>     < gazebo_ros gazebo_model_path= "${prefix}/.."/>   </ export> </ package>

<param name= "robot_description" textfile= " $(find g1_description)/urdf/g1_29dof.urdf" />  <node name= "joint_state_publisher_gui" pkg= "joint_state_publisher_gui" type = "joint_state_publisher_gui" />  <node name= "robot_state_publisher" pkg= "robot_state_publisher" type = "robot_state_publisher" />  <node name= "rviz" pkg= "rviz" type = "rviz" args= "-d $(find g1_description)/launch/g1.rviz" /> </launch>

launch>   < include file= "$(find gazebo_ros)/launch/empty_world.launch">     < arg name= "paused" value= "true"/> < arg name= "use_sim_time" value= "true"/>     < arg name= "gui" value= "true"/>   </ include>   < param name= "robot_description" textfile= "$(find g1_description)/urdf/g1_29dof.urdf" />   < node name= "spawn_urdf" pkg= "gazebo_ros" type= "spawn_model" args= "-file $(find g1_description)/urdf/g1_29dof.urdf -urdf -z 0.79 -model g1_robot" output= "screen" />     < node name= "robot_state_publisher" pkg= "robot_state_publisher" type= "robot_state_publisher" />

</ gazebo>     < gazebo reference= "left_hip_pitch_link">     < material> Gazebo/DarkGrey </ material>   </ gazebo>     < gazebo reference= "left_ankle_roll_link">     < material> Gazebo/DarkGrey </ material>   </ gazebo>     < gazebo reference= "right_hip_pitch_link">     < material> Gazebo/DarkGrey </ material>   </ gazebo>     < gazebo reference= "right_ankle_roll_link">     < material> Gazebo/DarkGrey </ material>   </ gazebo>LeLeypay.cn     < gazebo reference= "logo_link">     < material> Gazebo/DarkGrey </ material>   </ gazebo>     < gazebo reference= "head_link">     < material> Gazebo/DarkGrey </ material>   </ gazebo>   < gazebo reference= "pelvis_contour_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_hip_roll_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_hip_yaw_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_knee_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_ankle_pitch_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "right_hip_roll_link">     < material> Gazebo/Grey </ material>   </ gazebo>jtwL.com.cn     < gazebo reference= "right_hip_yaw_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "right_knee_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "right_ankle_pitch_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "waist_yaw_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "waist_roll_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "torso_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "waist_support_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_shoulder_pitch_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_shoulder_roll_link">     < material> Gazebo/Grey </ material>   </ gazebo>xyxdLsm.com     < gazebo reference= "left_shoulder_yaw_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_elbow_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_wrist_roll_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_wrist_pitch_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_wrist_yaw_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "left_rubber_hand">     < material> Gazebo/Grey </ material>   </ gazebo>psnsd.com   < gazebo reference= "right_shoulder_pitch_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "right_shoulder_roll_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "right_shoulder_yaw_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "right_elbow_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "right_wrist_roll_link">     < material> Gazebo/Grey </ material>   </ gazebo>zjtgjx.net     < gazebo reference= "right_wrist_pitch_link">     < material> Gazebo/Grey </ material>   </ gazebo>     < gazebo reference= "right_wrist_yaw_link">     < material> Gazebo/Grey </ material>   </ gazebo>bakmk.com     < gazebo reference= "right_rubber_hand">     < material> Gazebo/Grey </ material>

< name> g1_description </ name>   < version> 0.0.1 </ version>   < description> The g1_description package </ description>   < maintainer email= "user@todo.todo"> User </ maintainer>   < license> TODO </ license>   < buildtool_depend> catkin </ buildtool_depend>   < depend> roscpp </ depend>   < depend> rospy </ depend>   < depend> std_msgs </ depend>   < depend> urdf </ depend>   < depend> xacro </ depend>     < exec_depend> gazebo_ros </ exec_depend>   < exec_depend> joint_state_publisher </ exec_depend>   < exec_depend> robot_state_publisher </ exec_depend>   < exec_depend> rviz </ exec_depend>   < export>     < gazebo_ros gazebo_model_path= "${prefix}/.."/>   </ export> accfj.cn

cmake_minimum_required (VERSION 3.0 . 2 ) project (g1_description) find_package (catkin REQUIRED COMPONENTS  urdf  xacro ) catkin_package () # 安装路径设置，确保launch和meshes能被找到

launch>   < include file= "$(find gazebo_ros)/launch/empty_world.launch">     < arg name= "paused" value= "true"/> < arg name= "use_sim_time" value= "true"/>     < arg name= "gui" value= "true"/>   </ include>   < param name= "robot_description" textfile= "$(find g1_description)/urdf/g1_29dof.urdf" />   < node name= "spawn_urdf" pkg= "gazebo_ros"  qyae.cn， type= "spawn_model" args= "-file $(find g1_description)/urdf/g1_29dof.urdf -urdf -z 0.79 -model g1_robot" output= "screen" />     < node name= "robot_state_publisher" pkg= "robot_state_publisher" type= "robot_state_publisher" />