61 lines
1.3 KiB
Plaintext
61 lines
1.3 KiB
Plaintext
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<robot name="myrobot">
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<material name="orange">
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<color rgba="1.0 0.5 0.2 1" />
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</material>
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<material name="gray">
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<color rgba="0.2 0.2 0.2 1" />
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</material>
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<link name="imu_link">
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<visual>
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<origin xyz="0 0 0" />
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<geometry>
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<cylinder length="0.05" radius="0.03" />
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</geometry>
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<material name="gray" />
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</visual>
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</link>
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<link name="down_laser_link">
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<visual>
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<origin xyz="0 0 0" />
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<geometry>
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<cylinder length="0.05" radius="0.03" />
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</geometry>
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<material name="gray" />
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</visual>
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</link>
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<link name="up_laser_link">
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<visual>
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<origin xyz="0 0 0" />
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<geometry>
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<cylinder length="0.05" radius="0.03" />
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</geometry>
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<material name="gray" />
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</visual>
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</link>
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<link name="base_link" />
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<joint name="imu_link_joint" type="fixed">
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<parent link="base_link" />
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<child link="imu_link" />
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<origin rpy="0 0 0" xyz="0 0 0" />
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</joint>
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<joint name="up_laser_joint" type="fixed">
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<parent link="base_link" />
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<child link="up_laser_link" />
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<origin rpy="0 0 0" xyz="0 0 0.01" />
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</joint>
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<joint name="down_laser_link_joint" type="fixed">
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<parent link="base_link" />
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<child link="down_laser_link" />
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<origin rpy="0 0 0" xyz="0 0 0" />
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</joint>
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</robot>
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