/
pr2-beta-sim.robot.xml
47 lines (47 loc) · 1.46 KB
/
pr2-beta-sim.robot.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
<!-- pr2 robot with simulated sensors and controllers attached -->
<robot file="pr2-beta-static.zae">
<attachedsensor name="l_forearm_cam_optical_frame">
<link>l_forearm_cam_optical_frame</link>
<sensor type="BaseCamera" args="">
<KK>772.55 772.55 320.5 240.5</KK>
<width>640</width>
<height>480</height>
<framerate>5</framerate>
<color>0.5 1 0.5</color>
<power>0</power>
</sensor>
</attachedsensor>
<attachedsensor name="r_forearm_cam_optical_frame">
<link>r_forearm_cam_optical_frame</link>
<sensor type="BaseCamera" args="">
<KK>772.55 772.55 320.5 240.5</KK>
<width>640</width>
<height>480</height>
<framerate>5</framerate>
<color>0.5 1 0.5</color>
<power>0</power>
</sensor>
</attachedsensor>
<attachedsensor name="narrow_stereo_optical_frame">
<link>narrow_stereo_optical_frame</link>
<sensor type="BaseCamera" args="">
<KK>772.55 772.55 320.5 240.5</KK>
<width>640</width>
<height>480</height>
<framerate>5</framerate>
<color>0.5 0.5 1</color>
<power>0</power>
</sensor>
</attachedsensor>
<attachedsensor name="wide_stereo_optical_frame">
<link>wide_stereo_optical_frame</link>
<sensor type="BaseCamera" args="">
<KK>320 320 320.5 240.5</KK>
<width>640</width>
<height>480</height>
<framerate>5</framerate>
<color>1 0.5 0</color>
<power>0</power>
</sensor>
</attachedsensor>
</robot>