66 lines
2.7 KiB
XML
66 lines
2.7 KiB
XML
<?xml version='1.0' encoding='utf-8'?>
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fp3">
|
|
|
|
<xacro:include filename="$(find moonshot_franka_description)/robots/common/franka_robot.xacro"/>
|
|
|
|
<!--
|
|
DEPRECATION NOTICE
|
|
argument arm_id is no longer supported and will be removed in the future.
|
|
This argument is ignored.
|
|
-->
|
|
<xacro:arg name="arm_id" default="fp3" />
|
|
|
|
<!-- Don't print a prefix for joints, visuals, and links? -->
|
|
<xacro:arg name="no_prefix" default="false"/>
|
|
|
|
<!-- Should an end-effector be mounted at the flange?" -->
|
|
<xacro:arg name="hand" default="true" />
|
|
|
|
<!-- Which end-effector would be mounted at the flange?" -->
|
|
<xacro:arg name="ee_id" default="franka_hand" />
|
|
|
|
<!-- Should self-collision be enabled? -->
|
|
<xacro:arg name="with_sc" default="false" />
|
|
|
|
<!-- Is the robot being controlled with ros2_control?" -->
|
|
<xacro:arg name="ros2_control" default="false" />
|
|
|
|
<!-- IP address or hostname of the robot" -->
|
|
<xacro:arg name="robot_ip" default="" />
|
|
|
|
<!-- Should a fake hardware be used? -->
|
|
<xacro:arg name="use_fake_hardware" default="false" />
|
|
|
|
<!-- Should fake sensors be used? -->
|
|
<xacro:arg name="fake_sensor_commands" default="false" />
|
|
|
|
<!-- Should the robot be spawned in Gazebo?" -->
|
|
<xacro:arg name="gazebo" default="false" />
|
|
|
|
<!-- Should the robot be spawned in Gazebo with effort interfaces?" -->
|
|
<xacro:arg name="gazebo_effort" default="false" />
|
|
|
|
<!-- For a multi arm setup, we need a threaded robot running async-->
|
|
<xacro:arg name="multi_arm" default="false" />
|
|
|
|
<xacro:franka_robot arm_id="fp3"
|
|
joint_limits="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fp3/joint_limits.yaml')}"
|
|
inertials="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fp3/inertials.yaml')}"
|
|
kinematics="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fp3/kinematics.yaml')}"
|
|
dynamics="${xacro.load_yaml('$(find moonshot_franka_description)/robots/fp3/dynamics.yaml')}"
|
|
gazebo="$(arg gazebo)"
|
|
hand="$(arg hand)"
|
|
ee_id="$(arg ee_id)"
|
|
with_sc="$(arg with_sc)"
|
|
ros2_control="$(arg ros2_control)"
|
|
robot_ip="$(arg robot_ip)"
|
|
use_fake_hardware="$(arg use_fake_hardware)"
|
|
fake_sensor_commands="$(arg fake_sensor_commands)"
|
|
gazebo_effort="$(arg gazebo_effort)"
|
|
no_prefix="$(arg no_prefix)"
|
|
arm_prefix= ""
|
|
connected_to= "base">
|
|
</xacro:franka_robot>
|
|
|
|
</robot>
|