64 lines
1.5 KiB
Plaintext
64 lines
1.5 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="orbbec_astra_camera">
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<pose>0 0 0.024 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>0.22</mass>
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<inertia>
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<ixx>0.000513887</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.00008685</iyy>
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<iyz>0</iyz>
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<izz>0.00050009</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.06 0.17 0.048</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>0.1</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>0.4</mu>
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<mu2>0.4</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://orbbec_astra_camera/meshes/orbbec_astra_camera.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<sensor name="camera" type="depth">
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<pose>0.035 0.015 0.008 0 0 0</pose>
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<update_rate>30</update_rate>
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<camera>
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<horizontal_fov>1.0472</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.6</near>
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<far>8</far>
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</clip>
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</camera>
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</sensor>
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</link>
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</model>
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</sdf>
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