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Create stretch_base_imu.xacro

feature/urdf_base_imu
Aaron Edsinger 1 year ago
committed by GitHub
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commit
daa9c795cf
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1 changed files with 53 additions and 0 deletions
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      stretch_description/urdf/stretch_base_imu.xacro

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stretch_description/urdf/stretch_base_imu.xacro View File

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

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