Commit 8df9e16b authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

[urdf] Create new urdf files in robots/ and symlinks in urdf/

*talos_small(without gripper),
*talos_full_collision(loading collision geometry)
*talos_full(loading full mesh geometry)
parent d1329b92
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<?xml version="1.0"?>
<!--
Copyright (c) 2016, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
<!-- <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" /> -->
<xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<xacro:talos_torso name="torso" />
<xacro:talos_head name="head" parent="torso_2_link"/>
<xacro:talos_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
<xacro:talos_arm name="arm" parent="torso_2_link" side="right" reflect="-1"/>
<xacro:ft_sensor name="wrist" parent="arm_right_7_link" side="right" reflect="1" />
<xacro:ft_sensor name="wrist" parent="arm_left_7_link" side="left" reflect="-1" />
<!--
<xacro:talos_gripper name="gripper_left" parent="wrist_left_ft_tool_link" reflect="1" />
<xacro:talos_gripper name="gripper_right" parent="wrist_right_ft_tool_link" reflect="-1" />
-->
<xacro:talos_leg prefix="left" reflect="1" />
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
</robot>
../robots/talos_full.urdf
\ No newline at end of file
../robots/talos_full_collision.urdf
\ No newline at end of file
../robots/talos_small.urdf
\ No newline at end of file
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