86 lines
3.7 KiB
Plaintext
86 lines
3.7 KiB
Plaintext
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<?xml version="1.0" encoding="utf-8"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
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<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
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<xacro:macro name="openarm_hand" params="connected_to:='' arm_type arm_prefix:='' ee_type ee_inertials ee_kinematics_link rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0' tcp_rpy:='0 0 0' description_pkg:=openarm_description">
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<xacro:property name="ee_prefix" default=""/>
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<xacro:unless value="${arm_type == ''}">
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<!-- <xacro:property name="ee_prefix" value="${arm_prefix}${arm_type}_" /> -->
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<xacro:property name="ee_prefix" value="openarm_${arm_prefix}" />
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</xacro:unless>
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<xacro:ee_link_with_sc name="hand" prefix="${ee_prefix}" ee_kinematics_link="${ee_kinematics_link}"/>
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<!-- <link name="${ee_prefix}hand"/> -->
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<xacro:unless value="${connected_to == ''}">
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<!-- <joint name="${ee_prefix}hand_joint" type="fixed"> -->
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<joint name="${arm_prefix}openarm_hand_joint" type="fixed">
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<parent link="${connected_to}" />
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<child link="${ee_prefix}hand" />
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<origin xyz="${xyz_ee}" rpy="${rpy_ee}" />
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</joint>
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</xacro:unless>
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<!-- Define the hand_tcp frame -->
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<link name="${ee_prefix}hand_tcp" />
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<joint name="${ee_prefix}hand_tcp_joint" type="fixed">
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<origin xyz="${tcp_xyz}" rpy="${tcp_rpy}" />
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<parent link="${ee_prefix}hand" />
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<child link="${ee_prefix}hand_tcp" />
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</joint>
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<link name="${ee_prefix}left_finger">
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<visual name="${ee_prefix}left_finger_visual">
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<xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="left_finger" />
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<geometry>
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<mesh filename="package://${description_pkg}/meshes/ee/${ee_type}/visual/finger.dae" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision name="${ee_prefix}left_finger_collision">
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<xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="left_finger" />
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<geometry>
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<mesh filename="package://${description_pkg}/meshes/ee/${ee_type}/collision/finger.stl" scale="0.001 0.001 0.001" />
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</geometry>
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</collision>
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<xacro:ee-inertials name="left_finger"/>
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</link>
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<link name="${ee_prefix}right_finger">
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<visual name="${ee_prefix}right_finger_visual">
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<xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="right_finger" />
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<geometry>
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<mesh filename="package://${description_pkg}/meshes/ee/${ee_type}/visual/finger.dae" scale="0.001 -0.001 0.001"/>
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</geometry>
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</visual>
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<collision name="${ee_prefix}right_finger_collision">
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<xacro:openarm-ee-kinematics-link config="${ee_kinematics_link}" name="right_finger" />
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<geometry>
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<mesh filename="package://${description_pkg}/meshes/ee/${ee_type}/collision/finger.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="right_finger"/>
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</link>
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<joint name="${ee_prefix}finger_joint1" type="prismatic">
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<parent link="${ee_prefix}hand" />
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<child link="${ee_prefix}right_finger" />
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<origin xyz="0 0.00 0.015" rpy="0 0 0" />
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<axis xyz="0 -1 0" />
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<limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
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</joint>
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<joint name="${ee_prefix}finger_joint2" type="prismatic">
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<parent link="${ee_prefix}hand" />
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<child link="${ee_prefix}left_finger" />
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<origin xyz="0 0.012 0.015" rpy="0 0 0" />
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<axis xyz="0 1 0" />
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<limit effort="333" lower="0.0" upper="0.044" velocity="10.0" />
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<mimic joint="${ee_prefix}finger_joint1" />
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</joint>
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</xacro:macro>
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</robot>
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