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