How can I extract the urdf of xarm6 with gripper for other emulator

xArm-Developer / xarm_ros

ROS packages for robotic products from UFACTORY

https://www.ufactory.cc/

BSD 3-Clause "New" or "Revised" License

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How can I extract the urdf of xarm6 with gripper for other emulator #240

Open para133 opened 2 months ago

para133 commented 2 months ago

All tutorial for simulation are based on Gazebo and rviz. If I want to use other emulator, how can I extract the urdf and srdf of xarm6 with Two-finger gripper or which xacro should I use ? Looking forward to your reply.

penglongxiang commented 2 months ago

You may use this command:

cd xarm_ros
rosrun xacro xacro xarm_description/urdf/xarm_device.urdf.xacro robot_type:=xarm dof:=6 add_gripper:=true > xarm6_with_gripper.urdf

para133 commented 2 months ago

@penglongxiang Thanks for your reply ,so if I want to extract the corresponding srdf ,should I use following command?

cd xarm_ros  
rosrun xacro xacro xarm_description/srdf/xarm.srdf.xacro robot_type:=xarm dof:=6 add_gripper:=true > xarm6_with_gripper.srdf