Commit b1703ff7 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Full TALOS.œ

parent 5032133b
......@@ -304,26 +304,50 @@
<parent link="rgbd_link"/>
<child link="rgbd_depth_frame"/>
</joint>
<link name="rgbd_depth_frame"/>
<link name="rgbd_depth_frame">
<inertial>
<mass value="0.0"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<joint name="rgbd_depth_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="rgbd_depth_frame"/>
<child link="rgbd_depth_optical_frame"/>
</joint>
<link name="rgbd_depth_optical_frame"/>
<link name="rgbd_depth_optical_frame">
<inertial>
<mass value="0.0"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<!-- frames of the rgb sensor -->
<joint name="rgbd_rgb_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.01251 0.0"/>
<parent link="rgbd_link"/>
<child link="rgbd_rgb_frame"/>
</joint>
<link name="rgbd_rgb_frame"/>
<link name="rgbd_rgb_frame">
<inertial>
<mass value="0.0"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<joint name="rgbd_rgb_optical_joint" type="fixed">
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
<parent link="rgbd_rgb_frame"/>
<child link="rgbd_rgb_optical_frame"/>
</joint>
<link name="rgbd_rgb_optical_frame"/>
<link name="rgbd_rgb_optical_frame">
<inertial>
<mass value="0.0"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<gazebo reference="rgbd_link">
<!-- IR + depth -->
<sensor name="rgbd_frame_sensor" type="depth">
......
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