32 lines
1.2 KiB
Plaintext
32 lines
1.2 KiB
Plaintext
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<?xml version="1.0"?>
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<!--
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Copyright 2025 Enactic, Inc.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_bimanual">
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<xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
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<xacro:arg name="hardware_type" default="real" />
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<!-- Import openarm_bimanual urdf file -->
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<xacro:include filename="$(find openarm_description)/urdf/robot/v10.urdf.xacro" />
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<link name="base_link"/>
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<joint name="world_to_pedestal" type="fixed">
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<parent link="world"/>
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<child link="base_link"/>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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</joint>
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</robot>
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