28 lines
649 B
Plaintext
28 lines
649 B
Plaintext
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<?xml version="1.0" ?>
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<gazebo version="1.2">
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<model name="simple_arm_gripper">
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<include>
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<uri>model://simple_arm</uri>
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</include>
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<include>
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<uri>model://simple_gripper</uri>
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<pose>1.8 0 1 0 0 0</pose>
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</include>
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<plugin name="simple_arm_plugin" filename="libJointTrajectoryPlugin.so"/>
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<joint name="arm_gripper_joint" type="revolute">
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<parent>simple_arm::arm_wrist_roll</parent>
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<child>simple_gripper::riser</child>
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<axis>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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</limit>
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<xyz>0 0 1</xyz>
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</axis>
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</joint>
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</model>
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</gazebo>
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