27 lines
1.2 KiB
Plaintext
27 lines
1.2 KiB
Plaintext
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<?xml version="1.0" encoding="UTF-8"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
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<xacro:macro name="group_definition" params="group_name arm_id tip_link">
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<group name="${group_name}">
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<chain base_link="${arm_id}_link0" tip_link="${tip_link}"/>
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</group>
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<group_state name="ready" group="${group_name}">
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<joint name="${arm_id}_joint1" value="0"/>
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<joint name="${arm_id}_joint2" value="${-pi/4}"/>
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<joint name="${arm_id}_joint3" value="0"/>
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<joint name="${arm_id}_joint4" value="${-3*pi/4}"/>
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<joint name="${arm_id}_joint5" value="0"/>
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<joint name="${arm_id}_joint6" value="${pi/2}"/>
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<joint name="${arm_id}_joint7" value="${pi/4}"/>
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</group_state>
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<group_state name="extended" group="${group_name}">
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<joint name="${arm_id}_joint1" value="0"/>
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<joint name="${arm_id}_joint2" value="0"/>
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<joint name="${arm_id}_joint3" value="0"/>
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<joint name="${arm_id}_joint4" value="-0.1"/>
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<joint name="${arm_id}_joint5" value="0"/>
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<joint name="${arm_id}_joint6" value="${pi/2}"/>
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<joint name="${arm_id}_joint7" value="${pi/4}"/>
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</group_state>
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</xacro:macro>
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</robot>
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