55 lines
2.6 KiB
Plaintext
55 lines
2.6 KiB
Plaintext
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="ee-inertials" params="name ee_inertials:=^">
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<xacro:unless value="${name in ee_inertials}">
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${xacro.warning('No inertia properties defined for: ' + name)}
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</xacro:unless>
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<xacro:if value="${name in ee_inertials}">
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<xacro:property name="link_inertials" value="${ee_inertials[name]}" lazy_eval="false" />
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<xacro:property name="xyz" value="${link_inertials.origin.x} ${link_inertials.origin.y} ${link_inertials.origin.z}" />
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<xacro:property name="rpy" value="${link_inertials.origin.roll} ${link_inertials.origin.pitch} ${link_inertials.origin.yaw}" />
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<inertial>
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<origin xyz="${xyz}" rpy="${rpy}" />
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<mass value="${link_inertials.mass}" />
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<xacro:if value="${'inertia' in link_inertials}">
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<xacro:property name="I" value="${link_inertials.inertia}" />
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<inertia ixx="${I.xx}" ixy="${I.xy}" ixz="${I.xz}"
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iyy="${I.yy}" iyz="${I.yz}" izz="${I.zz}" />
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</xacro:if>
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</inertial>
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</xacro:if>
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</xacro:macro>
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<xacro:macro name="ee_link_with_sc" params="name prefix rpy:='0 0 0' ee_kinematics_link">
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<link name="${prefix}${name}">
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<visual name="${prefix}${name}_visual">
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<xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="${name}" />
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<geometry>
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<mesh filename="package://${description_pkg}/meshes/ee/${ee_type}/visual/${name}.dae" scale="0.001 0.001 0.001" />
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</geometry>
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</visual>
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<collision name="${prefix}${name}_collision">
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<xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="${name}" />
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<geometry>
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<mesh filename="package://openarm_description/meshes/ee/${ee_type}/collision/${name}.stl" scale="0.001 0.001 0.001" />
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</geometry>
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</collision>
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<xacro:ee-inertials name="${name}" />
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</link>
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</xacro:macro>
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<xacro:macro name="openarm-ee-kinematics" params="config name">
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<xacro:property name="kinematics" value="${config[name]['kinematic']}" lazy_eval="false" />
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<origin rpy="${kinematics.roll} ${kinematics.pitch} ${kinematics.yaw}"
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xyz="${kinematics.x} ${kinematics.y} ${kinematics.z}" />
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</xacro:macro>
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<xacro:macro name="openarm-ee-kinematics-link" params="config name">
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<xacro:property name="kinematics_link" value="${config[name]['kinematic']}" lazy_eval="false" />
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<origin rpy="${kinematics_link.roll} ${kinematics_link.pitch} ${kinematics_link.yaw}"
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xyz="${kinematics_link.x} ${kinematics_link.y} ${kinematics_link.z}" />
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</xacro:macro>
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</robot>
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