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Copy pathrobotiq_arg2f_140_model_macro.xacro
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robotiq_arg2f_140_model_macro.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f_transmission.xacro" />
<xacro:macro name="default_material">
<mu1>100000</mu1>
<mu2>100000</mu2>
<kp>100000000.0</kp>
<kd>1.0</kd>
</xacro:macro>
<xacro:macro name="outer_knuckle" params="prefix fingerprefix stroke">
<link name="${prefix}${fingerprefix}_outer_knuckle">
<inertial>
<origin xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331" rpy="0 0 0" />
<mass value="0.00853198276973456" />
<inertia
ixx="2.89328108496468E-06"
ixy="-1.57935047237397E-19"
ixz="-1.93980378593255E-19"
iyy="1.86719750325683E-06"
iyz="-1.21858577871576E-06"
izz="1.21905238907251E-06" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_${stroke}_outer_knuckle.stl" />
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_${stroke}_outer_knuckle.stl" />
</geometry>
</collision>
</link>
<gazebo reference="${prefix}${fingerprefix}_outer_knuckle">
<material>Gazebo/FlatBlack</material>
<xacro:default_material/>
</gazebo>
</xacro:macro>
<xacro:macro name="outer_finger" params="prefix fingerprefix stroke">
<link name="${prefix}${fingerprefix}_outer_finger">
<inertial>
<origin xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385" rpy="0 0 0" />
<mass value="0.022614240507152" />
<inertia
ixx="1.52518312458174E-05"
ixy="9.76583423954399E-10"
ixz="-5.43838577022588E-10"
iyy="6.17694243867776E-06"
iyz="6.78636130740228E-06"
izz="1.16494917907219E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_${stroke}_outer_finger.stl" />
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_${stroke}_outer_finger.stl" />
</geometry>
</collision>
</link>
<gazebo reference="${prefix}${fingerprefix}_outer_finger">
<material>Gazebo/FlatBlack</material>
<xacro:default_material/>
</gazebo>
</xacro:macro>
<xacro:macro name="inner_knuckle" params="prefix fingerprefix stroke">
<link name="${prefix}${fingerprefix}_inner_knuckle">
<inertial>
<origin xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166" rpy="0 0 0" />
<mass value="0.0271177346495152" />
<inertia
ixx="2.61910379223783E-05"
ixy="-2.43616858946494E-07"
ixz="-6.37789906117123E-09"
iyy="2.8270243746167E-06"
iyz="-5.37200748039765E-07"
izz="2.83695868220296E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_${stroke}_inner_knuckle.stl" />
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_${stroke}_inner_knuckle.stl" />
</geometry>
</collision>
</link>
<gazebo reference="${prefix}${fingerprefix}_inner_knuckle">
<material>Gazebo/FlatBlack</material>
<xacro:default_material/>
</gazebo>
</xacro:macro>
<xacro:macro name="inner_finger" params="prefix fingerprefix stroke">
<link name="${prefix}${fingerprefix}_inner_finger">
<inertial>
<origin xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257" rpy="0 0 0" />
<mass value="0.0104003125914103" />
<inertia
ixx="2.71909453810972E-06"
ixy="1.35402465472579E-21"
ixz="-7.1817349065269E-22"
iyy="7.69100314106116E-07"
iyz="6.74715432769696E-07"
izz="2.30315190420171E-06" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_${stroke}_inner_finger.stl" />
</geometry>
<material name="">
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_${stroke}_inner_finger.stl" />
</geometry>
</collision>
</link>
<gazebo reference="${prefix}${fingerprefix}_inner_finger">
<material>Gazebo/FlatBlack</material>
<xacro:default_material/>
</gazebo>
</xacro:macro>
<!-- Finger pad link, the default are the "big pads" with rubber-->
<xacro:macro name="inner_finger_pad" params="prefix fingerprefix">
<link name="${prefix}${fingerprefix}_inner_finger_pad">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.027 0.065 0.0075"/>
</geometry>
<material name="">
<color rgba="0.0 0.0 0.0 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.03 0.07 0.0075"/>
</geometry>
<material name="">
<color rgba="0.0 0.0 0.0 1" />
</material>
<surface>
<friction>
<ode>
<mu>10.0</mu>
<mu2>10.0</mu2>
</ode>
</friction>
</surface>
</collision>
</link>
<gazebo reference="${prefix}${fingerprefix}_inner_finger_pad">
<material>Gazebo/FlatBlack</material>
<xacro:default_material/>
</gazebo>
</xacro:macro>
<xacro:macro name="outer_finger_joint" params="prefix fingerprefix">
<joint name="${prefix}${fingerprefix}_outer_finger_joint" type="fixed">
<origin xyz="0 0.01821998610742 0.0260018192872234" rpy="0 0 0" />
<parent link="${prefix}${fingerprefix}_outer_knuckle" />
<child link="${prefix}${fingerprefix}_outer_finger" />
<axis xyz="1 0 0" />
</joint>
</xacro:macro>
<xacro:macro name="inner_knuckle_joint" params="prefix fingerprefix reflect">
<joint name="${prefix}${fingerprefix}_inner_knuckle_joint" type="revolute">
<origin xyz="0 ${reflect * -0.0127} 0.06142" rpy="${pi / 2 + .725} 0 ${(reflect - 1) * pi / 2}" />
<parent link="${prefix}robotiq_arg2f_base_link" />
<child link="${prefix}${fingerprefix}_inner_knuckle" />
<axis xyz="1 0 0" />
<limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
<mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
</joint>
</xacro:macro>
<xacro:macro name="inner_finger_joint" params="prefix fingerprefix">
<joint name="${prefix}${fingerprefix}_inner_finger_joint" type="revolute">
<origin xyz="0 0.0817554015893473 -0.0282203446692936" rpy="-0.725 0 0" />
<parent link="${prefix}${fingerprefix}_outer_finger" />
<child link="${prefix}${fingerprefix}_inner_finger" />
<axis xyz="1 0 0" />
<limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
<mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
</joint>
</xacro:macro>
<xacro:macro name="inner_finger_pad_joint" params="prefix fingerprefix">
<joint name="${prefix}${fingerprefix}_inner_finger_pad_joint" type="fixed">
<origin xyz="0 0.0457554015893473 -0.0272203446692936" rpy="0 0 0" />
<parent link="${prefix}${fingerprefix}_inner_finger" />
<child link="${prefix}${fingerprefix}_inner_finger_pad" />
<axis xyz="0 0 1" />
</joint>
</xacro:macro>
<xacro:include filename="$(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f.xacro" />
<xacro:macro name="finger_joint" params="prefix">
<joint name="${prefix}finger_joint" type="revolute">
<origin xyz="0 -0.030601 0.054905" rpy="${pi / 2 + .725} 0 0" />
<parent link="${prefix}robotiq_arg2f_base_link" />
<child link="${prefix}left_outer_knuckle" />
<axis xyz="-1 0 0" />
<limit lower="0" upper="0.7" velocity="2.0" effort="1000" />
</joint>
<xacro:finger_joints prefix="${prefix}" fingerprefix="left" reflect="1.0"/>
</xacro:macro>
<xacro:macro name="right_outer_knuckle_joint" params="prefix">
<joint name="${prefix}right_outer_knuckle_joint" type="revolute">
<origin xyz="0 0.030601 0.054905" rpy="${pi / 2 + .725} 0 ${pi}" />
<parent link="${prefix}robotiq_arg2f_base_link" />
<child link="${prefix}right_outer_knuckle" />
<axis xyz="1 0 0" />
<limit lower="-0.725" upper="0.725" velocity="2.0" effort="1000" />
<mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
</joint>
<xacro:finger_joints prefix="${prefix}" fingerprefix="right" reflect="-1.0"/>
</xacro:macro>
<xacro:macro name="robotiq_arg2f_140" params="prefix">
<xacro:robotiq_arg2f_base_link prefix="${prefix}"/>
<xacro:finger_links prefix="${prefix}" fingerprefix="left" stroke="140"/>
<xacro:finger_links prefix="${prefix}" fingerprefix="right" stroke="140"/>
<xacro:finger_joint prefix="${prefix}"/>
<xacro:right_outer_knuckle_joint prefix="${prefix}"/>
<xacro:robotiq_arg2f_transmission prefix="${prefix}"/>
</xacro:macro>
</robot>