mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-13 07:49:49 +08:00
Refactor URDF files for Gemini series cameras
This commit is contained in:
ob-yalian
@@ -0,0 +1,304 @@
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<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
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Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini_305">
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<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini305/" />
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<link
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name="camera_link" />
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<joint
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name="camera_link"
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type="fixed">
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<origin
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xyz="0.008126703388352 0.008999999999889 0.0210000000000001"
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rpy="0 0 0" />
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<parent
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link="camera_bottom_screw" />
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<child
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link="camera_link" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="camera_left_color_optical_frame" />
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<joint
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name="camera_left_color_optical_frame"
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type="fixed">
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<origin
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xyz="0 0 0"
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rpy="-1.5707963267949 0 -1.5707963267949" />
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<parent
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link="camera_left_color_frame" />
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<child
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link="camera_left_color_optical_frame" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="camera_right_color_optical_frame" />
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<joint
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name="camera_right_color_optical_frame"
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type="fixed">
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<origin
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xyz="0 0 0"
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rpy="-1.5707963267949 0 -1.5707963267949" />
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<parent
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link="camera_right_color_frame" />
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<child
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link="camera_right_color_optical_frame" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="camera_right_color_frame">
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<inertial>
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<origin
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xyz="0.00919554952881716 -0.00818012505851481 0.000610136627721268"
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rpy="0 0 0" />
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<mass
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value="0.0195706749601595" />
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<inertia
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ixx="3.90938897723015E-06"
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ixy="-1.54949883302206E-09"
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ixz="2.45880849146857E-08"
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iyy="6.7877667129966E-06"
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iyz="-9.6363499961021E-09"
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izz="3.76189543642479E-06" />
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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="3.141592653589793 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}RGB_R.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.956862745098039 0.0470588235294118 0.874509803921569 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="3.141592653589793 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}RGB_R.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="camera_right_color_frame"
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type="fixed">
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<origin
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xyz="0 -0.018 0"
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rpy="0 0 0" />
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<parent
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link="camera_left_color_frame" />
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<child
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link="camera_right_color_frame" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="camera_left_color_frame">
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<inertial>
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<origin
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xyz="-0.00880445047118283 -0.00818012505851481 0.000610136627721265"
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rpy="0 0 0" />
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<mass
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value="0.0195706749601595" />
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<inertia
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ixx="3.90938897723015E-06"
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ixy="-1.54949883302202E-09"
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ixz="2.45880849146858E-08"
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iyy="6.7877667129966E-06"
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iyz="-9.63634999610214E-09"
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izz="3.76189543642479E-06" />
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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="3.141592653589793 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}RGB_L.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.956862745098039 0.0470588235294118 0.874509803921569 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="3.141592653589793 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}RGB_L.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="camera_left_color_frame"
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type="fixed">
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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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<parent
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link="camera_link" />
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<child
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link="camera_left_color_frame" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="camera_rear_screw_R">
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<inertial>
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<origin
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xyz="0.0101923558444971 0.0108662763094772 0.000609168219647137"
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rpy="0 0 0" />
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<mass
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value="0.0195706749601595" />
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<inertia
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ixx="3.90938897723015E-06"
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ixy="-1.54949883302208E-09"
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ixz="2.45880849146858E-08"
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iyy="6.7877667129966E-06"
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iyz="-9.63634999610213E-09"
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izz="3.76189543642479E-06" />
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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="3.141592653589793 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_rear_screw_R.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 0.945098039215686 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="3.141592653589793 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_rear_screw_R.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="camera_rear_screw_R"
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type="fixed">
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<origin
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xyz="-0.01091969797964 -0.0100031936844311 0.0209990315919259"
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rpy="0 0 0" />
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<parent
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link="camera_bottom_screw" />
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<child
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link="camera_rear_screw_R" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="camera_rear_screw_L">
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<inertial>
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<origin
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xyz="-0.00980764415550291 0.0108662763094772 0.000609168219647134"
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rpy="0 0 0" />
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<mass
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value="0.0195706749601595" />
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<inertia
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ixx="3.90938897723015E-06"
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ixy="-1.54949883302204E-09"
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ixz="2.45880849146858E-08"
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iyy="6.7877667129966E-06"
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iyz="-9.63634999610211E-09"
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izz="3.76189543642479E-06" />
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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="3.141592653589793 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_rear_screw_L.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 0.945098039215686 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="3.141592653589793 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_rear_screw_L.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="camera_rear_screw_L"
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type="fixed">
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<origin
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xyz="-0.01091969797964 0.00999680631556896 0.0209990315919259"
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rpy="0 0 0" />
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<parent
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link="camera_bottom_screw" />
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<child
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link="camera_rear_screw_L" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="camera_bottom_screw">
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<inertial>
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<origin
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xyz="0.000195549528928165 -5.34216701628029E-05 -0.0203898633722788"
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rpy="0 0 0" />
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<mass
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value="0.0195706749601595" />
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<inertia
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ixx="3.90938897723015E-06"
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ixy="-1.54949883302199E-09"
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ixz="2.45880849146858E-08"
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iyy="6.78776671299659E-06"
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iyz="-9.63634999610216E-09"
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izz="3.76189543642478E-06" />
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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="3.141592653589793 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_bottom_screw.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.631372549019608 0.686274509803922 0.749019607843137 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="3.141592653589793 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_bottom_screw.STL" />
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</geometry>
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</collision>
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</link>
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</robot>
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