Merge pull request #97 from hello-robot/feature/dex_to_standard

Dex wrist xacro and mesh files

stretch_description/urdf/stretch_description.xacro

@@ -1,18 +1,15 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
-
-  <xacro:include filename="stretch_gripper.xacro" />
-  <!--<xacro:include filename="stretch_gripper_with_puller.xacro" />-->
-  <!--<xacro:include filename="stretch_dry_erase_marker.xacro" />-->
-    
-  <xacro:include filename="stretch_main.xacro" />
-  <xacro:include filename="stretch_aruco.xacro" />
-  <xacro:include filename="stretch_d435i.xacro" />
-  <xacro:include filename="stretch_laser_range_finder.xacro" />
-  <xacro:include filename="stretch_base_imu.xacro" />
-  <xacro:include filename="stretch_respeaker.xacro" />
-
-</robot>
-
-  
-
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
+
+  <xacro:include filename="stretch_gripper.xacro" />
+  <!--<xacro:include filename="stretch_gripper_with_puller.xacro" />-->
+  <!--<xacro:include filename="stretch_dry_erase_marker.xacro" />-->
+    
+  <xacro:include filename="stretch_main.xacro" />
+  <xacro:include filename="stretch_aruco.xacro" />
+  <xacro:include filename="stretch_d435i.xacro" />
+  <xacro:include filename="stretch_laser_range_finder.xacro" />
+  <xacro:include filename="stretch_base_imu.xacro" />
+  <xacro:include filename="stretch_respeaker.xacro" />
+
+</robot>

stretch_description/urdf/stretch_description_dex.xacro

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_description">
+
+  <xacro:include filename="stretch_dex_wrist.xacro" />
+  <!--<xacro:include filename="stretch_gripper.xacro" /> -->
+  <!--<xacro:include filename="stretch_gripper_with_puller.xacro" />-->
+  <!--<xacro:include filename="stretch_dry_erase_marker.xacro" />-->
+    
+  <xacro:include filename="stretch_main.xacro" />
+  <xacro:include filename="stretch_aruco.xacro" />
+  <xacro:include filename="stretch_d435i.xacro" />
+  <xacro:include filename="stretch_laser_range_finder.xacro" />
+  <xacro:include filename="stretch_respeaker.xacro" />
+
+</robot>

stretch_description/urdf/stretch_description_standard.xacro

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
+
+  <xacro:include filename="stretch_gripper.xacro" />
+  <!--<xacro:include filename="stretch_gripper_with_puller.xacro" />-->
+  <!--<xacro:include filename="stretch_dry_erase_marker.xacro" />-->
+    
+  <xacro:include filename="stretch_main.xacro" />
+  <xacro:include filename="stretch_aruco.xacro" />
+  <xacro:include filename="stretch_d435i.xacro" />
+  <xacro:include filename="stretch_laser_range_finder.xacro" />
+  <xacro:include filename="stretch_base_imu.xacro" />
+  <xacro:include filename="stretch_respeaker.xacro" />
+
+</robot>