mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-10 14:39:49 +08:00
418 lines
10 KiB
XML
418 lines
10 KiB
XML
<?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="gemini305_g">
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<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini305_g/" />
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<link
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name="base_link">
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<inertial>
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<origin
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xyz="0.000149164489798296 -0.00906695064573543 -0.0207909592259398"
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rpy="0 0 0" />
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<mass
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value="0.033546716795485" />
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<inertia
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ixx="6.61619826485559E-06"
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ixy="-3.93814864956883E-09"
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ixz="3.50980830227358E-08"
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iyy="1.15876789717806E-05"
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iyz="1.05717082804933E-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 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}base_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.631372549019608 0.686274509803922 0.749019607843137 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}base_link.STL" />
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</geometry>
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</collision>
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</link>
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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="9.11600953309166E-05 -0.00320635295652284 -0.020524426961246"
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rpy="0 0 0" />
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<mass
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value="0.0214423582709099" />
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<inertia
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ixx="4.83339010606525E-06"
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ixz="2.51447927275988E-08"
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iyy="8.20575253145867E-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="0 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_bottom_screw.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.631372549019608 0.686274509803922 0.749019607843137 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${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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<joint
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name="camera_bottom_screw"
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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="base_link" />
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<child
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link="camera_bottom_screw" />
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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="RGB_R">
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<inertial>
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<origin
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xyz="-1.1760228169691E-06 -0.0034693462830589 0.000376234001467315"
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rpy="0 0 0" />
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<inertia
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ixy="-1.95146774675994E-12"
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ixz="-9.3353249049419E-12"
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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 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}RGB_R.STL" />
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</geometry>
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<material
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name="">
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}RGB_R.STL" />
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</geometry>
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<joint
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name="RGB_R"
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type="fixed">
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<origin
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xyz="-0.00900395097915 0.008050000000001 -0.0209939609855011"
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rpy="0 0 0" />
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<parent
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link="base_link" />
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<child
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link="RGB_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="RGB_L">
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<inertial>
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<origin
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xyz="-1.17602281778789E-06 -0.00346934628305837 0.000376234001468578"
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rpy="0 0 0" />
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<mass
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value="0.000735468334566977" />
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<inertia
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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 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}RGB_L.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.956862745098039 0.0470588235294118 0.874509803921569 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${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="RGB_L"
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type="fixed">
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<origin
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xyz="0.00899604902085 0.008050000000001 -0.0209939609855011"
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rpy="0 0 0" />
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<parent
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link="base_link" />
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<child
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link="RGB_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="USB">
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<inertial>
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<origin
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xyz="-6.85782796221099E-05 -0.000107475646444261 -9.37341657112484E-06"
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rpy="0 0 0" />
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<mass
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<inertia
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ixx="9.1168959979051E-10"
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ixz="-1.47259149967294E-12"
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iyz="-2.08275831584529E-14"
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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 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}USB.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}USB.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="USB"
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type="fixed">
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<origin
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xyz="0.014696049020854 -0.00269500000000168 -0.0209939609854729"
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rpy="0 0 0" />
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<parent
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link="base_link" />
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<child
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link="USB" />
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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="0.00694483634502586 -0.000403960805324607 -0.00046775323322587"
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rpy="0 0 0" />
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<mass
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value="0.00885761204737663" />
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<inertia
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ixx="1.66869077460572E-06"
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iyy="3.1776766369675E-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="0 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_rear_screw_R.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.874509803921569 0.945098039215686 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${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="-0.00679999999999827 -0.02379999999999 -0.0209900000000301"
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rpy="0 0 0" />
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<parent
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link="base_link" />
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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="-0.00665516365497414 -0.000403960805324607 -0.00046775323322587"
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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 1.570796326794897" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_rear_screw_L.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.874509803921569 0.945098039215686 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 1.570796326794897" />
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<geometry>
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<mesh
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filename="${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="0.00680000000000172 -0.02379999999999 -0.0209900000000301"
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rpy="0 0 0" />
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<parent
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link="base_link" />
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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="FAKRA">
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<inertial>
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<origin
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xyz="-2.19014445062421E-07 0.0027197100224461 -0.00011127645937509"
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<visual>
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xyz="0 0 0"
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<geometry>
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<mesh
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filename="${mesh_path}FAKRA.STL" />
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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<geometry>
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<mesh
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filename="${mesh_path}FAKRA.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="FAKRA"
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type="fixed">
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<origin
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xyz="0 -0.033409999999996 -0.020993960985498"
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rpy="0 0 0" />
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<parent
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link="base_link" />
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<child
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link="FAKRA" />
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<axis
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xyz="0 0 0" />
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</joint>
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</robot> |