2025-07-22 07:07:59 +00:00
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<?xml version="1.0" encoding="utf-8"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- Where is the end-effector connected to, if different from the robot flange? -->
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<xacro:arg name="special_connection" default="" />
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<!-- Position offset between ee and parent frame -->
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2025-08-25 05:35:31 +00:00
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<xacro:arg name="xyz_ee" default="0 -0.0 0.1001" />
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2025-07-22 07:07:59 +00:00
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<!-- Rotation offset between ee and parent frame -->
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<xacro:arg name="rpy_ee" default= "0 0 0" />
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<!-- Position offset between ee frame and tcp frame -->
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<xacro:arg name="tcp_xyz" default="0 -0.0 0.08" />
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<!-- Rotation offset between ee frame and tcp frame -->
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<xacro:arg name="tcp_rpy" default="0 0 0" />
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<!-- Is the robot being simulated in gazebo? -->
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<!-- <xacro:arg name="gazebo" default="false" /> -->
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<!-- Name of the description package -->
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<xacro:arg name="description_pkg" default="openarm_description" />
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</robot>
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