31 lines
844 B
Plaintext
31 lines
844 B
Plaintext
|
<?xml version="1.0"?>
|
||
|
|
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
||
|
|
|
||
|
|
<xacro:macro name="ur_arm_gazebo" params="prefix">
|
||
|
|
|
||
|
|
<gazebo reference="${prefix}shoulder_link">
|
||
|
|
<selfCollide>true</selfCollide>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="${prefix}upper_arm_link">
|
||
|
|
<selfCollide>true</selfCollide>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="${prefix}forearm_link">
|
||
|
|
<selfCollide>true</selfCollide>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="${prefix}wrist_1_link">
|
||
|
|
<selfCollide>true</selfCollide>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="${prefix}wrist_3_link">
|
||
|
|
<selfCollide>true</selfCollide>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="${prefix}wrist_2_link">
|
||
|
|
<selfCollide>true</selfCollide>
|
||
|
|
</gazebo>
|
||
|
|
<gazebo reference="${prefix}ee_link">
|
||
|
|
<selfCollide>true</selfCollide>
|
||
|
|
</gazebo>
|
||
|
|
|
||
|
|
</xacro:macro>
|
||
|
|
|
||
|
|
</robot>
|