Hi Nicolas,<br>thanks for noticing the inconsistencies.  I&#39;ve updated the wiki accordingly, and opened a ticket on name requirement of a material.  Originally the design was to use a name when material is defined outside of the visual element (see how PR2 is defined for example).<br>

John<br><br><div class="gmail_quote">On Tue, May 11, 2010 at 7:13 AM, Nicolas <span dir="ltr">&lt;<a href="mailto:nicolas@shadowrobot.com">nicolas@shadowrobot.com</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">

Hello ROS Community,<br>
<br>
I would like to inform people who are in charge of the ROS Wiki that the<br>
URDF/XML tutorial is not up to date. I noticed that the formalism is not<br>
the same anymore: for instance, the tutorial does not mention the fact<br>
that the tag &lt;material&gt; requires a name (&lt;material name=&quot;blablabla&quot;&gt;).<br>
Another thing, the &lt;color&gt; tag does not work as shown on the tutorial<br>
anymore: &lt;color rgb=&quot;0 255 255&quot; alpha=&quot;1.0&quot;/&gt; is not recognized when the<br>
file is parsed, it has to be &lt;color rgba=&quot;0.7 0.7 0.7 1.0&quot;/&gt;<br>
<br>
Maybe an update of that tutorial would be nice !<br>
<br>
About this new rgba notation: what are the figures used for the R, G and<br>
B values ? They are not the 0-255 basic values for the RGB system, and I<br>
cannot find what it is.<br>
<br>
Thank you by advance,<br>
<br>
Nicolas Goossaert<br>
<br>
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</blockquote></div><br>