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62 lines
1.5 KiB
62 lines
1.5 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 name="respeaker_base">
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<inertial>
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<origin
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xyz="-0.00078082896792734 0.00765742173486017 -0.0042488298301937"
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rpy="0 0 0" />
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<mass
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value="0.00969129410417277" />
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<inertia
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ixx="8.95656300428405E-07"
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ixy="2.67330745809535E-08"
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ixz="-3.84519793580934E-08"
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iyy="4.0421099617056E-07"
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iyz="3.15533542838673E-07"
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izz="7.08282597118018E-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/link_respeaker.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="0.792156862745098 0.819607843137255 0.933333333333333 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/link_respeaker.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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<!-- rpy=" ? rotate_sound_source_direction ? " -->
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<origin
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xyz="1.09074743137871E-05 1.36992 0.00303572796911382"
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rpy="1.57079632679553 0.0 3.14159265358916" />
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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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