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ur10_robot.urdf.xacro 557 B
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<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro"
       name="ur10" >
  <!-- common stuff -->
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  <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
  <!-- ur10 -->
  <xacro:include filename="$(find ur_description)/urdf/ur10.urdf.xacro" />

  <!-- arm -->
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  <xacro:ur10_robot prefix="" joint_limited="false"/>
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  <link name="world" />
  <joint name="world_joint" type="fixed">
    <parent link="world" />
    <child link = "base_link" />
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
  </joint>
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</robot>