21 lines
1.2 KiB
XML
21 lines
1.2 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="cobot_pump">
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<xacro:include filename="$(find moonshot_franka_description)/end_effectors/common/utils.xacro" />
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<xacro:include filename="$(find moonshot_franka_description)/end_effectors/common/ee_with_one_link.xacro"/>
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<xacro:include filename="$(find moonshot_franka_description)/end_effectors/cobot_pump/cobot_pump_arguments.xacro"/>
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<xacro:ee_with_one_link connected_to="$(arg special_connection)"
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arm_id="$(arg arm_id)"
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ee_id="$(arg ee_id)"
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ee_inertials="${xacro.load_yaml('$(find moonshot_franka_description)/end_effectors/$(arg ee_id)/inertials.yaml')}"
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rpy_ee="$(arg rpy_ee)"
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xyz_ee="$(arg xyz_ee)"
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tcp_xyz="$(arg tcp_xyz)"
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tcp_rpy="$(arg tcp_rpy)"
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safety_distance="$(arg safety_distance)"
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gazebo="$(arg gazebo)"
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description_pkg="$(arg description_pkg)"
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with_sc="$(arg with_sc)">
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</xacro:ee_with_one_link>
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</robot> |