17 lines
722 B
Plaintext
17 lines
722 B
Plaintext
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<?xml version="1.0" ?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
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<xacro:macro name="hand" params="arm_id:='panda' ">
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<group name="hand">
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<link name="${arm_id}_hand"/>
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<link name="${arm_id}_leftfinger"/>
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<link name="${arm_id}_rightfinger"/>
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<joint name="${arm_id}_finger_joint1"/>
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<passive_joint name="${arm_id}_finger_joint2"/>
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</group>
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<disable_collisions link1="${arm_id}_hand" link2="${arm_id}_leftfinger" reason="Adjacent"/>
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<disable_collisions link1="${arm_id}_hand" link2="${arm_id}_rightfinger" reason="Adjacent"/>
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<disable_collisions link1="${arm_id}_leftfinger" link2="${arm_id}_rightfinger" reason="Default"/>
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</xacro:macro>
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</robot>
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