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42 lines
977 B
XML
42 lines
977 B
XML
<?xml version="1.0" ?>
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<sdf version="1.4">
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<model name="kinect">
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<pose>0 0 0.036 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>0.1</mass>
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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>0.073000 0.276000 0.072000</size>
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</box>
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</geometry>
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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://kinect/meshes/kinect.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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<update_rate>20</update_rate>
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<camera>
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<horizontal_fov>1.047198</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>0.05</near>
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<far>3</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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