How can I extract the urdf of xarm6 with gripper for other emulator

[para133]

All tutorial for simulation are based on Gazebo and rviz. If I want to use other emulator, how can I extract the urdf and srdf of xarm6 with Two-finger gripper or which xacro should I use ? Looking forward to your reply.

[penglongxiang]

You may use this command:

cd xarm_ros
rosrun xacro xacro xarm_description/urdf/xarm_device.urdf.xacro robot_type:=xarm dof:=6 add_gripper:=true > xarm6_with_gripper.urdf

[para133]

@penglongxiang Thanks for your reply ,so if I want to extract the corresponding srdf ,should I use following command?

cd xarm_ros  
rosrun xacro xacro xarm_description/srdf/xarm.srdf.xacro robot_type:=xarm dof:=6 add_gripper:=true > xarm6_with_gripper.srdf