128 lines
3.8 KiB
XML
128 lines
3.8 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gripper_scaled_up_macro">
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<xacro:macro name="simple_parallel_gripper" params="prefix parent *origin">
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<xacro:include filename="$(find simple_gz_gripper)/urdf/simple_gripper_macro.ros2_control.xacro" />
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<!-- gripper base -->
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<link name="${prefix}gripper_base">
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<visual>
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<geometry>
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<box size="0.03334 0.06666 0.06666" />
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</geometry>
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<origin xyz="0 0 0.03334" />
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<material name="violet">
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<color rgba="0.4 0.18 0.57 1.0" />
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="0.03334 0.06666 0.06666" />
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</geometry>
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<origin xyz="0 0 0.03334" />
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</collision>
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<inertial>
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<origin xyz="0 0 0.03334" />
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<mass value="0.02" />
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<inertia
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ixx="1.679e-05" ixy="0.0" ixz="0.0"
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iyy="7.437e-06" iyz="0.0"
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izz="7.437e-06" />
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</inertial>
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</link>
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<!-- finger right -->
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<link name="${prefix}finger_right">
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<visual>
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<geometry>
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<box size="0.02666 0.00666 0.06666" />
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</geometry>
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<origin xyz="0 -0.00334 0.03334" />
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1" />
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="0.02666 0.00666 0.06666" />
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</geometry>
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<origin xyz="0 -0.00334 0.03334" />
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1" />
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</material>
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</collision>
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<inertial>
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<origin xyz="0 0.00334 0.03334" />
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<mass value="0.009876" />
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<inertia
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ixx="3.694e-06" ixy="0.0" ixz="0.0"
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iyy="4.241e-06" iyz="0.0"
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izz="6.213e-07" />
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</inertial>
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</link>
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<!-- finger left -->
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<link name="${prefix}finger_left">
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<visual>
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<geometry>
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<box size="0.02666 0.00666 0.06666" />
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</geometry>
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<origin xyz="0 -0.00334 0.03334" />
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1" />
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</material>
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</visual>
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<collision>
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<geometry>
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<box size="0.02666 0.00666 0.06666" />
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</geometry>
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<origin xyz="0 -0.00334 0.03334" />
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1" />
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</material>
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</collision>
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<inertial>
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<origin xyz="0 0.00334 0.03334" />
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<mass value="0.009876" />
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<inertia
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ixx="3.694e-06" ixy="0.0" ixz="0.0"
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iyy="4.241e-06" iyz="0.0"
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izz="6.213e-07" />
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</inertial>
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</link>
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<!-- joint from parent -->
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<joint name="${prefix}base_fixed_joint" type="fixed">
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<xacro:insert_block name="origin" />
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<parent link="${parent}" />
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<child link="${prefix}gripper_base" />
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</joint>
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<!-- finger joints -->
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<joint name="${prefix}right_finger_joint" type="prismatic">
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<axis xyz="0 1 0" />
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<origin xyz="0.0 0.0 0.06666" rpy="0.0 0.0 0.0" />
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<parent link="${prefix}gripper_base" />
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<child link="${prefix}finger_right" />
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<limit effort="10.0" lower="0" upper="0.02534" velocity="1.0" />
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<!-- <dynamics damping="2.0" friction="1.0"/> -->
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</joint>
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<joint name="${prefix}left_finger_joint" type="prismatic">
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<mimic joint="${prefix}right_finger_joint"/>
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<axis xyz="0 1 0" />
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<origin xyz="0.0 0.0 0.06666" rpy="0.0 0.0 3.1415926535" />
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<parent link="${prefix}gripper_base" />
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<child link="${prefix}finger_left" />
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<limit effort="10.0" lower="0" upper="0.02534" velocity="1.0" />
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<!-- <dynamics damping="2.0" friction="1.0"/> -->
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</joint>
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<xacro:simple_gz_gripper_ros2_control prefix="${prefix}"/>
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</xacro:macro>
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</robot>
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