189 lines
4.1 KiB
XML
189 lines
4.1 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:include filename="$(find rasmt_support)/urdf/tools/rasmt_hand_gazebo.xacro"/>
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<xacro:include filename="$(find rasmt_support)/urdf/tools/rasmt_hand_control.xacro"/>
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<xacro:macro name="rasmt_hand" params="prefix sim">
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<link
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name="${prefix}_Grip_Body">
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<inertial>
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<origin
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xyz="0.0016793 -0.00053126 -0.024041"
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rpy="0 0 0" />
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<mass
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value="0.72351" />
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<inertia
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ixx="0.00045979"
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ixy="-2.1983E-08"
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ixz="-6.5154E-06"
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iyy="0.00048572"
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iyz="8.3162E-07"
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izz="0.00082469" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasmt_support/meshes/visual/Grip_Body.dae" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.50196 1 0.50196 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasmt_support/meshes/collision/Grip_Body.stl" />
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</geometry>
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</collision>
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</link>
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<joint
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name="${prefix}_Fix"
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type="fixed">
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<origin
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xyz="0 0.0 0.12324"
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rpy="-3.14159265358979 0 0" />
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<parent
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link="${prefix}_Dock_Link" />
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<child
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link="${prefix}_Grip_Body" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="${prefix}_Grip_L">
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<inertial>
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<origin
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xyz="-0.010118 0.010281 -0.0038252"
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rpy="0 0 0" />
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<mass
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value="0.021223" />
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<inertia
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ixx="6.5436E-06"
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ixy="-3.114E-06"
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ixz="2.8479E-06"
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iyy="1.9726E-05"
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iyz="1.6432E-06"
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izz="1.6355E-05" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasmt_support/meshes/visual/Grip_L.dae" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.75294 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasmt_support/meshes/collision/Grip_L.stl" />
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</geometry>
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</collision>
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</link>
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<joint
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name="${prefix}_Slide_1"
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type="prismatic">
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<origin
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xyz="0 -0.02 -0.09305"
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rpy="3.1416 0 -1.5708" />
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<parent
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link="${prefix}_Grip_Body" />
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<child
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link="${prefix}_Grip_L" />
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<axis
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xyz="-1 0 0" />
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<limit
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effort="20"
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lower="0.0"
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upper="0.06"
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velocity="0.2"/>
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</joint>
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<link
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name="${prefix}_Grip_R">
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<inertial>
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<origin
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xyz="-0.010118 0.010281 -0.0038252"
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rpy="0 0 0" />
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<mass
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value="0.021223" />
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<inertia
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ixx="6.5436E-06"
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ixy="-3.114E-06"
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ixz="2.8479E-06"
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iyy="1.9726E-05"
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iyz="1.6432E-06"
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izz="1.6355E-05" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasmt_support/meshes/visual/Grip_R.dae" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.75294 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://rasmt_support/meshes/collision/Grip_R.stl" />
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</geometry>
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</collision>
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</link>
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<joint
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name="${prefix}_Slide_2"
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type="prismatic">
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<origin
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xyz="0 0.02 -0.09305"
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rpy="3.1416 0 1.5708" />
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<parent
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link="${prefix}_Grip_Body" />
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<child
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link="${prefix}_Grip_R" />
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<axis
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xyz="-1 0 0" />
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<limit
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effort="20"
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lower="0.0"
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upper="0.06"
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velocity="0.2"/>
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<!--mimic joint="${prefix}_Slide_1"/-->
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</joint>
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<xacro:rasmt_hand_hi prefix="${prefix}" sim="${sim}"/>
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<xacro:rasmt_hand_gazebo prefix="${prefix}"/>
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</xacro:macro>
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</robot>
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