81 lines
1.8 KiB
Plaintext
81 lines
1.8 KiB
Plaintext
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<?xml version="1.0" ?>
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<robot name="openarm_grip" xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<xacro:property name="body_color" value="Gazebo/Silver" />
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<gazebo>
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<plugin name="control" filename="libgazebo_ros_control.so"/>
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</gazebo>
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<gazebo reference="base_link">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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<gravity>true</gravity>
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</gazebo>
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<gazebo reference="J2_v1_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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</gazebo>
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<gazebo reference="J3_v1_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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</gazebo>
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<gazebo reference="J4_v1_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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</gazebo>
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<gazebo reference="J5_v1_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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</gazebo>
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<gazebo reference="J6_v1_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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</gazebo>
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<gazebo reference="J7_v1_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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</gazebo>
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<gazebo reference="grip_attach_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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</gazebo>
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<gazebo reference="left_jaw_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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</gazebo>
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<gazebo reference="right_jaw_1">
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<material>${body_color}</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<self_collide>true</self_collide>
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</gazebo>
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</robot>
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