mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-05 04:27:46 +08:00
345 lines
7.6 KiB
XML
Executable File
345 lines
7.6 KiB
XML
Executable File
<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by
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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_335_Le">
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<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini335Le/" />
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<link
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name="camera_link">
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<inertial>
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<origin
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xyz="0.01235 -0.0020872 0.013243"
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rpy="0 0 0" />
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<mass
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value="0.043446" />
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<inertia
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ixx="6.3353E-05"
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ixy="-1.7904E-06"
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ixz="-8.8334E-08"
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iyy="8.2334E-06"
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iyz="3.3581E-07"
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izz="6.2898E-05" />
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</inertial>
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<visual>
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<origin
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xyz="-0.034005 -0.0475 -0.014048"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}base_Link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.8 0.8 0.8 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="-0.034005 -0.0475 -0.014048"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${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_botton_screw_frame">
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<inertial>
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<origin
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xyz="0.0129595808229284 -0.00178367771212325 0.0132673694649094"
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rpy="0 0 0" />
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<mass
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value="0.0448051589796488" />
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<inertia
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ixx="6.33661581989711E-05"
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ixy="-1.79038624315989E-06"
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ixz="-8.83359092708292E-08"
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iyy="8.24796424379033E-06"
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iyz="3.35812056060257E-07"
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izz="6.29120336687906E-05" />
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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="${mesh_path}camera_botton_screw_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_botton_screw_frame.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_depth_frame">
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<inertial>
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<origin
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xyz="-0.0015782 9.8699E-08 -1.6899E-07"
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rpy="0 0 0" />
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<mass
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value="0.00045313" />
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<inertia
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ixx="4.3406E-09"
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ixy="-5.1012E-13"
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ixz="-6.3511E-13"
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iyy="4.8388E-09"
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iyz="1.081E-12"
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izz="4.8408E-09" />
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</inertial>
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</link>
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<joint
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name="camera_depth_joint"
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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_depth_frame" />
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<axis
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xyz="0 0 0" />
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</joint>
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<joint
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name="base_joint"
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type="fixed">
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<origin
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xyz="-0.034005 -0.0475 -0.014048"
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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_botton_screw_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_ir_frame">
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<inertial>
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<origin
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xyz="-0.0015782 9.8699E-08 -1.6899E-07"
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rpy="0 0 0" />
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<mass
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value="0.00045313" />
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<inertia
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ixx="4.3406E-09"
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ixy="-5.1012E-13"
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ixz="-6.3511E-13"
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iyy="4.8388E-09"
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iyz="1.081E-12"
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izz="4.8408E-09" />
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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="${mesh_path}canera_right_IR_ROS_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.3 0.3 0.3 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}canera_right_IR_ROS_frame.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_ir_joint"
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type="fixed">
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<origin
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xyz="0 -0.095 0"
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rpy="0 0 0" />
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<parent
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link="camera_depth_frame" />
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<child
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link="camera_right_ir_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_ir_frame">
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<inertial>
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<origin
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xyz="-0.0015782 9.8699E-08 -1.6899E-07"
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rpy="0 0 0" />
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<mass
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value="0.00045313" />
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<inertia
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ixx="4.3406E-09"
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ixy="-5.1012E-13"
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ixz="-6.3511E-13"
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iyy="4.8388E-09"
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iyz="1.081E-12"
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izz="4.8408E-09" />
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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="${mesh_path}canera_left_IR_ROS_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.5 0.5 0.5 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}canera_left_IR_ROS_frame.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_ir_joint"
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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_depth_frame" />
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<child
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link="camera_left_ir_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_color_frame">
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<inertial>
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<origin
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xyz="-0.0015872 6.5366E-08 -8.8281E-08"
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rpy="0 0 0" />
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<mass
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value="0.00045313" />
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<inertia
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ixx="4.3407E-09"
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ixy="-5.7478E-13"
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ixz="-4.8757E-13"
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iyy="4.8388E-09"
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iyz="1.3042E-12"
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izz="4.8408E-09" />
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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="${mesh_path}canera_RGB_ROS_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.7 0.7 0.7 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}canera_RGB_ROS_frame.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_color_joint"
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type="fixed">
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<origin
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xyz="9e-06 -0.02375 0"
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rpy="0 0 0" />
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<parent
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link="camera_depth_frame" />
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<child
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link="camera_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_imu_frame">
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<inertial>
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<origin
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xyz="0.012945 -0.036548 0.00068975"
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rpy="0 0 0" />
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<mass
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value="0.010604" />
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<inertia
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ixx="1.511E-05"
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ixy="6.8413E-09"
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ixz="-1.008E-09"
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iyy="1.184E-06"
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iyz="1.0258E-07"
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izz="1.412E-05" />
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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="${mesh_path}canera_IMU_ROS_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.8 0.8 0.8 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}canera_IMU_ROS_frame.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_imu_joint"
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type="fixed">
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<origin
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xyz="-0.014248 -0.01131 -0.00069"
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rpy="0 0 0" />
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<parent
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link="camera_depth_frame" />
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<child
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link="camera_imu_frame" />
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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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