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59 lines
1.2 KiB
59 lines
1.2 KiB
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_laser_range_finder">
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<link
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name="laser">
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<inertial>
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<origin
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xyz="0 0 -0.000755956127492408"
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rpy="0 0 0" />
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<mass
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value="0.0749979022894495" />
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<inertia
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ixx="0"
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ixy="0"
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ixz="0"
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iyy="0"
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iyz="0"
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izz="0" />
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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/laser.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="0.250980392156863 0.250980392156863 0.250980392156863 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/laser.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_laser"
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type="fixed">
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<origin
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xyz="0.004 0 0.1664"
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rpy="0 0 3.1416" />
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<parent
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link="base_link" />
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<child
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link="laser" />
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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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