67 lines
3.1 KiB
XML
67 lines
3.1 KiB
XML
<?xml version='1.0' encoding='utf-8'?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fer">
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<xacro:include filename="$(find moonshot_franka_description)/robots/common/franka_robot.xacro"/>
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<!--
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DEPRECATION NOTICE
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argument arm_id is no longer supported and will be removed in the future.
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This argument is ignored.
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-->
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<xacro:arg name="arm_id" default="fer" />
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<!-- Don't print a prefix for joints, visuals, and links? -->
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<xacro:arg name="no_prefix" default="false"/>
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<!-- Should an end-effector be mounted at the flange?" -->
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<xacro:arg name="hand" default="true" />
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<!-- Which end-effector would be mounted at the flange?" -->
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<xacro:arg name="ee_id" default="franka_hand" />
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<!-- Is the robot being simulated in gazebo?" -->
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<xacro:arg name="gazebo" default="false" />
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<!-- If `gazebo` arg is set, to which frame shall $(arm_id)_link0 be parented. Empty string for not fixing at all -->
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<xacro:arg name="parent" default="world" />
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<!-- If `gazebo` arg is set and `parent` not empty, what position offset between `parent` & $(arm_id)_link0 -->
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<xacro:arg name="xyz" default="0 0 0" />
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<!-- If `gazebo` arg is set and `parent` not empty, what rotation offset between `parent` & $(arm_id)_link0 -->
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<xacro:arg name="rpy" default="0 0 0" />
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<!-- Should self-collision be enabled? -->
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<xacro:arg name="with_sc" default="false" />
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<!-- Is the robot being controlled with ros2_control?" -->
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<xacro:arg name="ros2_control" default="false" />
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<!-- IP address or hostname of the robot" -->
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<xacro:arg name="robot_ip" default="" />
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<!-- Should a fake hardware be used? -->
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<xacro:arg name="use_fake_hardware" default="false" />
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<!-- Should fake sensors be used? -->
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<xacro:arg name="fake_sensor_commands" default="false" />
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<!-- Should the robot be spawned in Gazebo with effort interfaces?" -->
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<xacro:arg name="gazebo_effort" default="false" />
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<!-- For a multi arm setup, we need a threaded robot running async-->
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<xacro:arg name="multi_arm" default="false" />
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<xacro:franka_robot arm_id="fer"
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joint_limits="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fer/joint_limits.yaml')}"
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inertials="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fer/inertials.yaml')}"
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kinematics="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fer/kinematics.yaml')}"
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dynamics="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fer/dynamics.yaml')}"
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gazebo="$(arg gazebo)"
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hand="$(arg hand)"
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ee_id="$(arg ee_id)"
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with_sc="$(arg with_sc)"
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ros2_control="$(arg ros2_control)"
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robot_ip="$(arg robot_ip)"
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use_fake_hardware="$(arg use_fake_hardware)"
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fake_sensor_commands="$(arg fake_sensor_commands)"
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gazebo_effort="$(arg gazebo_effort)"
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no_prefix="$(arg no_prefix)"
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arm_prefix= ""
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connected_to= "base">
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</xacro:franka_robot>
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</robot>
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