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62 lines
1.4 KiB
62 lines
1.4 KiB
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_respeaker">
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<link
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name="respeaker_base">
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<inertial>
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<origin
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xyz="-0.003809 -0.0023075 -0.012854"
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rpy="0 0 0" />
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<mass
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value="0.015643" />
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<inertia
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ixx="1.0075E-06"
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ixy="-5.4396E-08"
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ixz="-2.8652E-07"
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iyy="1.0569E-06"
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iyz="-1.8463E-07"
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izz="1.1947E-07" />
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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/respeaker_base.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="0.79216 0.81961 0.93333 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/respeaker_base.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_respeaker"
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type="fixed">
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<origin
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xyz="0 1.37236408874452 0.00303065898329655"
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rpy="-1.5707963267949 -0.698131700797725 4.93295812652799E-16" />
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<parent
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link="link_mast" />
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<child
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link="respeaker_base" />
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<axis
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xyz="0 0 0" />
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</joint>
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</robot>
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