You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
62 lines
1.3 KiB
62 lines
1.3 KiB
<?xml version="1.0"?>
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_respeaker">
|
|
|
|
<link
|
|
name="respeaker_base">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.001594 -0.001282 -0.008098"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.025175" />
|
|
<inertia
|
|
ixx="1E-05"
|
|
ixy="2E-06"
|
|
ixz="1E-06"
|
|
iyy="1.2E-05"
|
|
iyz="0"
|
|
izz="1.5E-05" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/respeaker_base.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.79216 0.81961 0.93333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://stretch_description/meshes/respeaker_base.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="joint_respeaker"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0 1.37236408874452 0.00303065898329655"
|
|
rpy="-1.5707963267949 -0.698131700797725 4.93295812652799E-16" />
|
|
<parent
|
|
link="link_mast" />
|
|
<child
|
|
link="respeaker_base" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
|
|
</robot>
|
|
|
|
|
|
|