interbotix_texture.gazebo

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

  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <legacyModeNS>true</legacyModeNS>
    </plugin>
  </gazebo>

  <gazebo reference="$(arg robot_name)/base_link">
    <material>Custom/Interbotix</material>
  </gazebo>

  <gazebo reference="$(arg robot_name)/shoulder_link">
    <material>Custom/Interbotix</material>
  </gazebo>

  <gazebo reference="$(arg robot_name)/upper_arm_link">
    <material>Custom/Interbotix</material>
  </gazebo>

  <gazebo reference="$(arg robot_name)/forearm_link">
    <material>Custom/Interbotix</material>
  </gazebo>

  <gazebo reference="$(arg robot_name)/upper_forearm_link">
    <material>Custom/Interbotix</material>
  </gazebo>

  <gazebo reference="$(arg robot_name)/lower_forearm_link">
    <material>Custom/Interbotix</material>
  </gazebo>

  <gazebo reference="$(arg robot_name)/wrist_link">
    <material>Custom/Interbotix</material>
  </gazebo>

  <gazebo reference="$(arg robot_name)/gripper_link">
    <material>Custom/Interbotix</material>
  </gazebo>

  <gazebo reference="$(arg robot_name)/gripper_prop_link">
    <dampingFactor>1</dampingFactor>
    <material>Custom/Interbotix</material>
  </gazebo>

  <gazebo reference="$(arg robot_name)/gripper_bar_link">
    <material>Custom/Interbotix</material>
  </gazebo>

  <gazebo reference="$(arg robot_name)/left_finger_link">
    <material>Custom/Interbotix</material>
  </gazebo>

  <gazebo reference="$(arg robot_name)/right_finger_link">
    <material>Custom/Interbotix</material>
  </gazebo>

  <gazebo reference="ee_arm">
    <disableFixedJointLumping>true</disableFixedJointLumping>
  </gazebo>

  <gazebo reference="gripper_bar">
    <disableFixedJointLumping>true</disableFixedJointLumping>
  </gazebo>

  <gazebo reference="ee_bar">
    <disableFixedJointLumping>true</disableFixedJointLumping>
  </gazebo>

  <gazebo reference="ee_gripper">
    <disableFixedJointLumping>true</disableFixedJointLumping>
  </gazebo>

</robot>