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eMh_pepper.xml
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eMh_pepper.xml
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<?xml version="1.0"?>
<root>
<!--This file stores homogeneous matrix used
in the vpHomogeneousMatrix Class of ViSP available
at http://www.irisa.fr/lagadic/visp/visp.html .
It can be read with the parse method of
the vpXmlParserHomogeneousMatrix class.-->
<!--Homogeneous Matrix-->
<homogeneous_transformation>
<!--Name of the homogeneous matrix-->
<name>eMh_RArm</name>
<values>
<!--Translation vector with values in meters-->
<tx>0.018365</tx>
<ty>0.027611</ty>
<tz>-0.007083</tz>
<!--Rotational vector expressed in angle axis representation with values in radians-->
<theta_ux>0.054571</theta_ux>
<theta_uy>0.030174</theta_uy>
<theta_uz>0.099821</theta_uz>
</values>
</homogeneous_transformation>
<homogeneous_transformation>
<!--Name of the homogeneous matrix-->
<name>eMh_RArm_Feb_2017</name>
<values>
<!--Translation vector with values in meters-->
<tx>0.016631</tx>
<ty>0.035470</ty>
<tz>-0.007768</tz>
<!--Rotational vector expressed in angle axis representation with values in radians-->
<theta_ux>-0.082904</theta_ux>
<theta_uy>0.023592</theta_uy>
<theta_uz>0.039473</theta_uz>
</values>
</homogeneous_transformation>
</root>