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@ -0,0 +1,53 @@ |
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<link |
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name="base_imu"> |
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<inertial> |
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<origin |
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xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443" |
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rpy="0 0 0" /> |
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<mass |
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value="0.000901473198307758" /> |
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<inertia |
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ixx="2.83324000746358E-08" |
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ixy="-2.10106175504755E-10" |
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ixz="1.86717014516205E-10" |
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iyy="5.35315990744214E-08" |
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iyz="9.31114208976591E-11" |
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izz="8.13221670783358E-08" /> |
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</inertial> |
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<visual> |
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<origin |
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xyz="0 0 0" |
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rpy="0 0 0" /> |
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<geometry> |
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<mesh |
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filename="package://stretch_description/meshes/base_imu.STL" /> |
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</geometry> |
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<material |
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name=""> |
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<color |
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rgba="0 0.772549019607843 0.207843137254902 1" /> |
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</material> |
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</visual> |
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<collision> |
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<origin |
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xyz="0 0 0" |
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rpy="0 0 0" /> |
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<geometry> |
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<mesh |
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filename="package://stretch_description/meshes/base_imu.STL" /> |
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</geometry> |
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</collision> |
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</link> |
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<joint |
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name="joint_base_imu" |
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type="fixed"> |
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<origin |
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xyz="-0.12838 0.0031592 0.1474" |
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rpy="-3.1416 0 -1.5708" /> |
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<parent |
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link="base_link" /> |
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<child |
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link="base_imu" /> |
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<axis |
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xyz="0 0 0" /> |
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</joint> |