qlin/moonshot_franka_description
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

initial forking commit

Browse Source
This commit is contained in:
qlin960618
2025-02-22 22:37:34 +09:00
commit ee5f8b145e
106 changed files with 13922 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
end_effectors/franka_hand/franka_hand.urdf.xacro Normal file
View File

@@ -0,0 +1,21 @@
<?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>