initial forking commit

end_effectors/franka_hand/franka_hand.urdf.xacro

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+<?xml version="1.0" encoding="utf-8"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="franka_hand">
+  <xacro:include filename="$(find franka_description)/end_effectors/common/utils.xacro" />
+  <xacro:include filename="$(find franka_description)/end_effectors/common/franka_hand.xacro"/>
+  <xacro:include filename="$(find franka_description)/end_effectors/franka_hand/franka_hand_arguments.xacro"/>
+
+  <xacro:franka_hand connected_to="$(arg special_connection)"
+                     arm_id="$(arg arm_id)"
+                     ee_id="$(arg ee_id)_$(arg ee_color)"
+                     ee_inertials="${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:franka_hand>
+
+</robot>

end_effectors/franka_hand/franka_hand_arguments.xacro

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+<?xml version="1.0" encoding="utf-8"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!-- Name for the robot -->
+  <xacro:arg name="arm_id" default="fr3" />
+
+  <!-- End-effector id" -->
+  <xacro:arg name="ee_id" default="franka_hand" />
+
+  <!-- End-effector color" -->
+  <xacro:arg name="ee_color" default="white" />
+
+  <!-- Where is the end-effector connected to, if different from the robot flange?  -->
+  <xacro:arg name="special_connection" default="" />
+
+  <!-- Should self-collision be enabled? -->
+  <xacro:arg name="with_sc" default="false" />
+
+  <!-- Position offset between ee and parent frame -->
+  <xacro:arg name="xyz_ee" default="0 0 0" />
+
+  <!-- Rotation offset between ee and parent frame -->
+  <xacro:arg name="rpy_ee" default= "0 0 ${-pi/4}" />
+
+  <!-- Position offset between ee frame and tcp frame -->
+  <xacro:arg name="tcp_xyz" default="0 0 0.1034" />
+
+  <!-- Rotation offset between ee frame and tcp frame -->
+  <xacro:arg name="tcp_rpy" default="0 0 0" />
+
+  <!-- Safety distance for the collision capsules -->
+  <xacro:arg name="safety_distance" default="0.03" />
+
+  <!-- Is the robot being simulated in gazebo? -->
+  <xacro:arg name="gazebo" default="false" />
+
+  <!-- Name of the description package -->
+  <xacro:arg name="description_pkg" default="franka_description" />
+
+</robot>

end_effectors/franka_hand/inertials.yaml

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+hand:
+  origin:
+    xyz: -0.01 0 0.03
+    rpy: 0 0 0
+  mass: 0.73
+  inertia:
+    xx: 0.001
+    yy: 0.0025
+    zz: 0.0017
+    xy: 0
+    xz: 0
+    yz: 0
+
+leftfinger: &finger
+  origin:
+    xyz: 0 0 0
+    rpy: 0 0 0
+  mass: 0.015
+  inertia:
+    xx: 2.3749999999999997e-06
+    yy: 2.3749999999999997e-06
+    zz: 7.5e-07
+    xy: 0
+    xz: 0
+    yz: 0
+rightfinger: *finger