pg70.urdf.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:include filename="$(find schunk_description)/urdf/common.xacro" />
  <xacro:include filename="$(find schunk_description)/urdf/pg70/pg70.gazebo.xacro" />
  <xacro:include filename="$(find schunk_description)/urdf/pg70/pg70.transmission.xacro" />

  <xacro:macro name="schunk_pg70" params="parent name *origin has_podest">

    <xacro:if value="${has_podest}">
      <joint name="${name}_podest_joint" type="fixed">
        <xacro:insert_block name="origin" />
        <parent link="${parent}"/>
        <child link="${name}_podest_link"/>
      </joint>
      <link name="${name}_podest_link">
        <xacro:default_inertial/>
        <visual>
          <origin xyz="0 0 0" rpy="0 ${M_PI} 0" />
          <geometry>
          <mesh filename="package://schunk_description/meshes/lwa4p/arm_base_link.stl" />
          </geometry>
        </visual>

        <collision>
          <origin xyz="0 0 0" rpy="0 ${M_PI} 0" />
          <geometry>
          <mesh filename="package://schunk_description/meshes/lwa4p/arm_base_link.stl" />
          </geometry>
        </collision>
      </link>

      <joint name="${name}_palm_joint" type="fixed">
        <origin xyz="0 0 0.10" rpy="0 0 0" />
        <parent link="${name}_podest_link"/>
        <child link="${name}_palm_link"/>
      </joint>
    </xacro:if>

    <xacro:unless value="${has_podest}">
      <joint name="${name}_palm_joint" type="fixed">
        <xacro:insert_block name="origin" />
        <parent link="${parent}"/>
        <child link="${name}_palm_link" />
      </joint>
    </xacro:unless>

    <link name="${name}_palm_link">
      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1"/>
        <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
      </inertial>
      <visual>
        <geometry>
          <mesh filename="package://schunk_description/meshes/pg70/pg70.dae" />
        </geometry>
      </visual>
      <collision>
        <origin xyz="0 0 ${0.040-0.5*0.0171}" rpy="0 0 0" />
        <geometry>
          <box size="0.082 0.114 0.080" />
        </geometry>
      </collision>
    </link>


    <joint name="${name}_finger_left_joint" type="prismatic" >
      <origin xyz="0 0.0055 0.0789" rpy="0 0 0"/>
      <parent link="${name}_palm_link" />
      <child link="${name}_finger_left_link" />
      <axis xyz="0 1 0" />
      <limit effort="10" lower="-0.001" upper="0.0301" velocity="0.041"/>
    </joint>

    <link name="${name}_finger_left_link">
      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1"/>
        <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
      </inertial>
      <visual>
        <geometry>
          <box size="0.03 0.01 0.01"/>
        </geometry>
        <material name="black">
          <color rgba="0 0 0 1"/>
        </material>
      </visual>
      <collision>
        <geometry>
          <box size="0.03 0.01 0.01"/>
        </geometry>
        <material name="black">
          <color rgba="0 0 0 1"/>
        </material>
      </collision>
    </link>


    <joint name="${name}_finger_right_joint" type="prismatic" >
      <origin xyz="0 -0.0055 0.0789" rpy="-0 0 0"/>
      <parent link="${name}_palm_link" />
      <child link="${name}_finger_right_link" />
      <axis xyz="0 -1 0" />
      <mimic joint="${name}_finger_left_joint" multiplier="1" offset="0"/>
      <limit effort="10" lower="-0.001" upper="0.0301" velocity="0.041"/>
    </joint>

    <link name="${name}_finger_right_link">
      <inertial>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <mass value="1"/>
        <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
      </inertial>
      <visual>
        <geometry>
          <box size="0.03 0.01 0.01"/>
        </geometry>
        <material name="black">
          <color rgba="0 0 0 1"/>
        </material>
      </visual>
      <collision>
        <geometry>
          <box size="0.03 0.01 0.01"/>
        </geometry>
        <material name="black">
          <color rgba="0 0 0 1"/>
        </material>
      </collision>
    </link>

    <!-- extensions -->
    <xacro:schunk_pg70_gazebo name="${name}" />
    <xacro:schunk_pg70_transmission name="${name}" />

    <!-- ros_control plugin -->
    <gazebo>
      <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
        <robotNamespace>${name}</robotNamespace>
        <filterJointsParam>joint_names</filterJointsParam>
      </plugin>
    </gazebo>

  </xacro:macro>
</robot>