pretraining/urdf/aftf.xacro

<?xml version="1.0"?>
<robot name="allegro_fingertip_flat" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <!-- Import XELA Data -->
  <xacro:include filename="$(find xela_models)/urdf/xela.xacro" />

  <!-- Used for fixing robot to Gazebo 'base_link' -->
  <link name="world" />

  <!-- Base Link -->
  <joint name="fixed" type="fixed">
    <parent link="world" />
    <child link="base_link" />
  </joint>

  <link name="base_link">
    <visual>
      <geometry>
        <sphere radius="0.001"/>
      </geometry>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.001"/>
      </geometry>
    </collision>
  </link>
  
  <xacro:sensoraftf sequence="1" col="red" parent="base_link" />

</robot>