IRS Softrobot Description

This package contains the description for a single softrobot segment and a description for a fully assembled softrobot.

Single segment

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="test_softrobot">
  <xacro:include filename="$(find roberto_description)/urdf/roberto_segment.urdf.xacro" />

  <link name="base_link" />

  <joint name="base_joint" type="fixed">
    <parent link="base_link" />
    <child link="softrobot_attachment_point" />
  </joint>

  <link name="softrobot_attachment_point" />

  <xacro:softrobot_segment
    name="softrobot"
    parent="softrobot_attachment_point"
    num_disks="3"
    length="0.5"
  />
</robot>

Full robot

TODO