<?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="fp3" />

  <!-- End-effector id" -->
  <xacro:arg name="ee_id" default="cobot_pump" />

  <!-- 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 0" />

  <!-- Position offset between ee frame and tcp frame -->
  <xacro:arg name="tcp_xyz" default="0 0 0.105" />

  <!-- 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>