36 lines
1.1 KiB
Text
36 lines
1.1 KiB
Text
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="rasmt_hand_gazebo" params="prefix">
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<!-- ros_control-plugin -->
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<gazebo>
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<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
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<!--robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type-->
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<parameters>$(find rasmt_support)/config/rasmt_hand_controllers.yaml</parameters>
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<robotNamespace>/${prefix}</robotNamespace>
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</plugin>
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</gazebo>
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<!-- link 0 -->
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<gazebo reference="${prefix}_Grip_Body">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<turnGravityOff>true</turnGravityOff>
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</gazebo>
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<!-- link 1 -->
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<gazebo reference="${prefix}_Grip_L">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<turnGravityOff>true</turnGravityOff>
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</gazebo>
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<!-- link 2 -->
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<gazebo reference="${prefix}_Grip_R">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<turnGravityOff>true</turnGravityOff>
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</gazebo>
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</xacro:macro>
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</robot>
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