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.
61 lines
1.3 KiB
61 lines
1.3 KiB
<?xml version="1.0"?>
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_base_imu">
|
|
|
|
<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>
|
|
|
|
</robot>
|
|
|
|
|
|
|