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<?xml version="1.0"?>
<robot 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"
xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="ur10_arm_gazebo" params="name">
<gazebo reference="${name}_base_link">
<material value="Gazebo/Grey" />
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="${name}_shoulder_pan_link">
<material value="Gazebo/Blue " />
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="${name}_shoulder_lift_link">
<material value="Gazebo/Grey" />
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="${name}_elbow_link">
<material value="Gazebo/Blue " />
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="${name}_wrist_1_link">
<material value="Gazebo/Grey" />
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="${name}_wrist_2_link">
<material value="Gazebo/Blue " />
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="${name}_wrist_1_link">
<material value="Gazebo/Grey" />
<turnGravityOff>false</turnGravityOff>
</gazebo>
</xacro:macro>
</robot>