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j2n4s300_standalone.xacro
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j2n4s300_standalone.xacro
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<?xml version="1.0"?>
<!-- j2n4_3 refers to jaco v2 4DOF non-spherical 3fingers -->
<robot xmlns:xi="http://www.w3.org/2001/XInclude"
xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
xmlns:xacro="http://ros.org/wiki/xacro" name="j2n4s300">
<xacro:include filename="$(find kinova_description)/urdf/j2n4s300.xacro"/>
<link name="root">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size = "0 0 0"/>
</geometry>
<!--<material name="Black" /> -->
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size = "0 0 0"/>
</geometry>
</collision>
</link>
<!-- for gazebo -->
<link name="world"/>
<joint name="connect_root_and_world" type="fixed">
<child link="root" />
<parent link="world" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<xacro:property name="robot_root" value="root" />
<xacro:j2n4s300 base_parent="${robot_root}"/>
</robot>