Develop model with gripper xacro

rethink-imcmahon commented 9 years ago

Building off the wonderful work of @k-okada, this branch implements a Xacro framework to create Electric Grippers for Baxter.

Finger meshes were rotated to be consistent, origins were placed logically
Xacro Framework was implemented to adjust gripper configuration to anything that can be constructed with the rethink electric gripper kit
Gazebo Tags were removed from the original baxter.urdf to be consistent with the onboard urdf
A Xacro was created to patch together the base Baxter URDF, left and right end effector, and Gazebo tags

Note, this pull request is dependent on the recently merged https://github.com/ros/xacro/pull/117

rethink-imcmahon commented 9 years ago

I think I should probably squash most of these into two or so commits...

rethink-imcmahon commented 8 years ago

Ok, ready to merge after that massive rebase! We're down to just the important commits now.

RethinkRobotics / baxter_common