12 lines
595 B
Plaintext
12 lines
595 B
Plaintext
<!-- Gripper -->
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<element name="gripper" required="*">
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<attribute name="name" type="string" default="__default__" required="1"/>
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<element name="grasp_check" required="0">
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<attribute name="detach_steps" type="int" default="40" required="0"/>
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<attribute name="attach_steps" type="int" default="20" required="0"/>
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<attribute name="min_contact_count" type="unsigned int" default="2" required="0"/>
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</element>
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<element name="gripper_link" type="string" default="__default__" required="+"/>
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<element name="palm_link" type="string" default="__default__" required="1"/>
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</element>
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