1
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
2
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
3
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
4
xmlns:xacro="http://www.ros.org/wiki/xacro"
7
<include filename="$(find sr_hand)/model/desk/desk.urdf.xacro" />
8
<include filename="$(find sr_hand)/model/materials.urdf.xacro" />
9
<include filename="$(find sr_hand)/model/arm_urdf/full_arm_muscle.urdf.xacro" />
10
<include filename="$(find sr_hand)/model/gazebo/gazebo.urdf.xacro" />
14
<joint name="arm_to_desk_fixed" type="fixed">
15
<parent link="desk_pillar"/>
16
<child link="shadowarm_base"/>
17
<origin rpy="0 0 0" xyz="0 0 1.0"/>
20
<joint name="base_fix" type="fixed">
21
<parent link="world"/>
22
<child link="desk_support"/>
23
<origin rpy="0 0 0" xyz="0 0 0"/>
27
</xacro:sr_arm_muscle>
b'\\ No newline at end of file'