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62 lines
1.3 KiB
62 lines
1.3 KiB
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_base_imu">
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<link
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name="base_imu">
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<inertial>
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<origin
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xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443"
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rpy="0 0 0" />
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<mass
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value="0.000901473198307758" />
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<inertia
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ixx="2.83324000746358E-08"
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ixy="-2.10106175504755E-10"
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ixz="1.86717014516205E-10"
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iyy="5.35315990744214E-08"
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iyz="9.31114208976591E-11"
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izz="8.13221670783358E-08" />
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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/base_imu.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 0.772549019607843 0.207843137254902 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/base_imu.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_base_imu"
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type="fixed">
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<origin
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xyz="-0.12838 0.0031592 0.1474"
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rpy="-3.1416 0 -1.5708" />
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<parent
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link="base_link" />
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<child
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link="base_imu" />
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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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