dual_iiwa14_polytope_collision.urdf.xacro

<?xml version="1.0"?>
<!-- ===================================================================== -->
<!-- This URDF contains two instances of the iiwa14_polytope_collision models, a
     left one and a right one. They can be distinguished by a "left_" and
     "right_" prefix in front of their link, joint, and transmission names.

     Collision models: complex meshes can drastically affect run time.
     Therefore most collision models are omitted in this model and link 7 uses a
     polytope model.
-->
<!-- ===================================================================== -->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="dual_iiwa14">
  <!-- Import Rviz colors -->
  <xacro:include filename="$(find iiwa_description)/urdf/materials.xacro"/>
  <!--Import the lbr iiwa macro -->
  <xacro:include filename="$(find iiwa_description)/urdf/iiwa14.xacro"/>
  <xacro:arg name="hardware_interface" default="PositionJointInterface"/>
  <xacro:arg name="left_robot_name" default="left_iiwa"/>
  <xacro:arg name="right_robot_name" default="right_iiwa"/>
  <!-- Defines a base link that will serve as the model's root. This is
  necessary since URDF requires that the model be a tree.-->
  <link name="base"/>
  <!--The "left" iiwa robot. -->
  <xacro:iiwa14 hardware_interface="$(arg hardware_interface)" robot_name="$(arg left_robot_name)" parent="base" collision_type="polytope">
    <origin xyz="1 0 0" rpy="0 0 0"/>
  </xacro:iiwa14>
  <!--The "right" iiwa robot. -->
  <xacro:iiwa14 hardware_interface="$(arg hardware_interface)" robot_name="$(arg right_robot_name)" parent="base" collision_type="polytope">
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </xacro:iiwa14>
</robot>