<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_respeaker">

  <link name="respeaker_base">
    <inertial>
      <origin
        xyz="-0.00078082896792734 0.00765742173486017 -0.0042488298301937"
        rpy="0 0 0" />
      <mass
        value="0.00969129410417277" />
      <inertia
        ixx="8.95656300428405E-07"
        ixy="2.67330745809535E-08"
        ixz="-3.84519793580934E-08"
        iyy="4.0421099617056E-07"
        iyz="3.15533542838673E-07"
        izz="7.08282597118018E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://stretch_description/meshes/link_respeaker.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://stretch_description/meshes/link_respeaker.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="joint_respeaker"
    type="fixed">
    <!-- rpy="   ?   rotate_sound_source_direction    ?   " --> 
    <origin
      xyz="1.09074743137871E-05 1.36992 0.00303572796911382"
      rpy="1.57079632679553 0.0 3.14159265358916" />
    <parent
      link="link_mast" />
    <child
      link="respeaker_base" />
    <axis
      xyz="0 0 0" />
  </joint>
  
</robot>

  

