33 lines
1.1 KiB
Plaintext
33 lines
1.1 KiB
Plaintext
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="ultraSound" params="name *origin">
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<joint name="ultraSound_joint_${name}" type="fixed">
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<xacro:insert_block name="origin"/>
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<parent link="trunk"/>
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<child link="ultraSound_${name}"/>
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</joint>
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<link name="ultraSound_${name}">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size=".001 .001 .001"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://go1_description/meshes/ultraSound.dae" scale="1 1 1"/>
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</geometry>
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<material name="black"/>
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</visual>
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<inertial>
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<mass value="1e-5" />
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
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</inertial>
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</link>
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</xacro:macro>
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</robot>
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