qlin/moonshot_franka_description
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qlin960618
2025-02-22 22:37:34 +09:00
commit ee5f8b145e
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end_effectors/cobot_pump/cobot_pump.urdf.xacro Normal file
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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="cobot_pump">
<xacro:include filename="$(find franka_description)/end_effectors/common/utils.xacro" />
<xacro:include filename="$(find franka_description)/end_effectors/common/ee_with_one_link.xacro"/>
<xacro:include filename="$(find franka_description)/end_effectors/cobot_pump/cobot_pump_arguments.xacro"/>
<xacro:ee_with_one_link connected_to="$(arg special_connection)"
arm_id="$(arg arm_id)"
ee_id="$(arg ee_id)"
ee_inertials="${xacro.load_yaml('$(find franka_description)/end_effectors/$(arg ee_id)/inertials.yaml')}"
rpy_ee="$(arg rpy_ee)"
xyz_ee="$(arg xyz_ee)"
tcp_xyz="$(arg tcp_xyz)"
tcp_rpy="$(arg tcp_rpy)"
safety_distance="$(arg safety_distance)"
gazebo="$(arg gazebo)"
description_pkg="$(arg description_pkg)"
with_sc="$(arg with_sc)">
</xacro:ee_with_one_link>
</robot>