<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="cobot_pump">
  <xacro:include filename="$(find moonshot_franka_description)/end_effectors/common/utils.xacro" />
  <xacro:include filename="$(find moonshot_franka_description)/end_effectors/common/ee_with_one_link.xacro"/>
  <xacro:include filename="$(find moonshot_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('$(find moonshot_franka_description)/end_effectors/$(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>