rgb(21 128 61) to rgba usd in urdf

In URDF (Unified Robot Description Format), colors are usually specified in RGBA format. The RGBA format includes the red, green, and blue color components, as well as an alpha value for opacity. Each of these components is typically represented as a floating-point number between 0 and 1.

To convert the RGB color (21, 128, 61) to RGBA in URDF, you need to normalize each of the RGB components to the range [0, 1] by dividing by 255. If you want full opacity, you can set the alpha value to 1.0.

Here's the conversion:

• Red: ( \frac{21}{255} \approx 0.082 )
• Green: ( \frac{128}{255} \approx 0.502 )
• Blue: ( \frac{61}{255} \approx 0.239 )
• Alpha: 1.0 (for full opacity)

In URDF, this color would be specified as:

<color rgba="0.082 0.502 0.239 1.0"/>

This line can be added to the material tag of a URDF link or visual element to specify this specific color with full opacity.