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rb1_torso - changes to simulate as part of rb1 robot
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rb1_torso: | ||
rb1: | ||
j1_torso_controller: | ||
type: effort_controllers/JointPositionController | ||
joint: j1_torso | ||
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36 changes: 36 additions & 0 deletions
36
rb1_torso_description/robots/rb1_torso_standalone.urdf.xacro
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<?xml version="1.0"?> | ||
<robot name="rb1_torso" xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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<!-- ***************** --> | ||
<!-- Imported elements --> | ||
<!-- ***************** --> | ||
<!-- First we import all posible elements defined in the urdf.xacro files. All these elements are defined as macro:xacros --> | ||
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<!-- Import RB1 arm elements --> | ||
<xacro:include filename="$(find rb1_torso_description)/urdf/rb1_torso_3dof.urdf.xacro" /> | ||
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<xacro:include filename="$(find rb1_torso_description)/urdf/rb1_torso_3dof.gazebo.xacro" /> | ||
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<!-- Import all available sensors --> | ||
<xacro:include filename="$(find rb1_torso_description)/urdf/sensors/all_sensors.urdf.xacro" /> | ||
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<!-- ***************** --> | ||
<!-- Global parameters --> | ||
<!-- ***************** --> | ||
<xacro:property name="PI" value="3.1415926535897931"/> | ||
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<!-- Flag to select the high or low quality model --> | ||
<xacro:property name="hq" value="true" /> | ||
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<!-- RB-1 torso --> | ||
<xacro:rb1_torso_3dof name="rb1_torso_3dof" hq="${hq}" /> | ||
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<!-- Ixtion sensor in head --> | ||
<xacro:sensor_asus_xtion_pro name="xtion_head" parent="link2_head"> | ||
<origin xyz="0.055 0.000 0.028" rpy="0 0 0"/> | ||
</xacro:sensor_asus_xtion_pro> | ||
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<!-- Gazebo ros control plugins --> | ||
<!-- xacro:ros_control/ --> | ||
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</robot> |
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