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

<?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>