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edo_gripper_dummy.xacro
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edo_gripper_dummy.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find edo_description)/urdf/utilities.xacro" />
<!-- some constants -->
<xacro:property name="joint_damping" value="0.5" />
<xacro:property name="max_effort" value="300"/>
<xacro:property name="max_velocity" value="0.5"/>
<xacro:property name="robot_prefix" value="edo"/>
<xacro:macro name="edo_gripper_dummy" params="parent hardware_interface robot_name *origin">
<joint name="${robot_prefix}_gripper_joint" type="fixed">
<xacro:insert_block name="origin"/>
<parent link="${parent}"/>
<child link="${robot_prefix}_gripper_link" />
</joint>
<link name="${robot_prefix}_gripper_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.005"/>
<inertia
ixx="1"
ixy="0"
ixz="0"
iyy="1"
iyz="0"
izz="1" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://edo_gripper/meshes/base.STL"/>
</geometry>
<material name="Brown"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://edo_gripper/meshes/base.STL"/>
</geometry>
<material name="Brown"/>
</collision>
</link>
<joint name="${robot_prefix}_gripper_left_base_joint" type="revolute">
<parent link="${robot_prefix}_gripper_link"/>
<child link="${robot_prefix}_gripper_left_base_link"/>
<origin xyz="0 0.025 0.0195" rpy="${PI / 2} 0 ${PI / 2}"/>
<axis xyz="0 0 1"/>
<limit lower="${-PI / 2}" upper="${PI / 2}"
effort="${max_effort}" velocity="${max_velocity}" />
<dynamics damping="${joint_damping}"/>
</joint>
<link name="${robot_prefix}_gripper_left_base_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.0005"/>
<inertia
ixx="1"
ixy="0"
ixz="0"
iyy="1"
iyz="0"
izz="1" />
</inertial>
<visual>
<origin xyz="-0.005 0 -0.04" rpy="0 0 0"/>
<geometry>
<mesh filename="package://edo_gripper/meshes/finger_base.STL"/>
</geometry>
<material name="Brown"/>
</visual>
<collision>
<origin xyz="-0.005 0 -0.04" rpy="0 0 0"/>
<geometry>
<mesh filename="package://edo_gripper/meshes/finger_base.STL"/>
</geometry>
<material name="Brown"/>
</collision>
</link>
<joint name="${robot_prefix}_gripper_left_finger_joint" type="revolute">
<parent link="${robot_prefix}_gripper_left_base_link"/>
<child link="${robot_prefix}_gripper_left_finger_link"/>
<origin xyz="0 0.04 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="${-PI / 2}" upper="${PI / 2}"
effort="${max_effort}" velocity="${max_velocity}" />
<dynamics damping="${joint_damping}"/>
</joint>
<link name="${robot_prefix}_gripper_left_finger_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.0005"/>
<inertia
ixx="1"
ixy="0"
ixz="0"
iyy="1"
iyz="0"
izz="1" />
</inertial>
<visual>
<origin xyz="-0.071 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://edo_gripper/meshes/finger_tip.STL"/>
</geometry>
<material name="Brown"/>
</visual>
<collision>
<origin xyz="-0.071 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://edo_gripper/meshes/finger_tip.STL"/>
</geometry>
<material name="Brown"/>
</collision>
</link>
<joint name="${robot_prefix}_gripper_right_base_joint" type="revolute">
<parent link="${robot_prefix}_gripper_link"/>
<child link="${robot_prefix}_gripper_right_base_link"/>
<origin xyz="0 -0.025 0.0195" rpy="${PI / 2} 0 -${PI / 2}"/>
<axis xyz="0 0 1"/>
<limit lower="${-PI / 2}" upper="${PI / 2}"
effort="${max_effort}" velocity="${max_velocity}" />
<dynamics damping="${joint_damping}"/>
</joint>
<link name="${robot_prefix}_gripper_right_base_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.0005"/>
<inertia
ixx="1"
ixy="0"
ixz="0"
iyy="1"
iyz="0"
izz="1" />
</inertial>
<visual>
<origin xyz="-0.005 0 -0.04" rpy="0 0 0"/>
<geometry>
<mesh filename="package://edo_gripper/meshes/finger_base.STL"/>
</geometry>
<material name="Brown"/>
</visual>
<collision>
<origin xyz="-0.005 0 -0.04" rpy="0 0 0"/>
<geometry>
<mesh filename="package://edo_gripper/meshes/finger_base.STL"/>
</geometry>
<material name="Brown"/>
</collision>
</link>
<joint name="${robot_prefix}_gripper_right_finger_joint" type="revolute">
<parent link="${robot_prefix}_gripper_right_base_link"/>
<child link="${robot_prefix}_gripper_right_finger_link"/>
<origin xyz="0 0.04 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="${-PI / 2}" upper="${PI / 2}"
effort="${max_effort}" velocity="${max_velocity}" />
<dynamics damping="${joint_damping}"/>
</joint>
<link name="${robot_prefix}_gripper_right_finger_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.0005"/>
<inertia
ixx="1"
ixy="0"
ixz="0"
iyy="1"
iyz="0"
izz="1" />
</inertial>
<visual>
<origin xyz="-0.071 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://edo_gripper/meshes/finger_tip.STL"/>
</geometry>
<material name="Brown"/>
</visual>
<collision>
<origin xyz="-0.071 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://edo_gripper/meshes/finger_tip.STL"/>
</geometry>
<material name="Brown"/>
</collision>
</link>
<!-- Here we define another dummy joint. It is placed at the end of the tool, so we can then attach a frame at its TCP for control -->
<joint name="${robot_prefix}_gripper_tip_joint" type="fixed">
<parent link="${robot_prefix}_gripper_link" />
<child link = "${robot_prefix}_gripper_link_ee" />
<origin xyz="0 0 0.12" rpy="0 0 ${PI/4}" />
</joint>
<!-- The TCP frame is here defined -->
<link name="${robot_prefix}_gripper_link_ee"/>
<gazebo>
<plugin name="gazebo_grasp_fix" filename="libgazebo_grasp_fix.so">
<robotNamespace>${robot_name}</robotNamespace>
<arm>
<arm_name>robot</arm_name>
<palm_link>${robot_prefix}_link_6</palm_link>
<gripper_link>${robot_prefix}_gripper_left_finger_link</gripper_link>
<gripper_link>${robot_prefix}_gripper_right_finger_link</gripper_link>
</arm>
<forces_angle_tolerance>100</forces_angle_tolerance>
<update_rate>4</update_rate>
<grip_count_threshold>4</grip_count_threshold>
<max_grip_count>8</max_grip_count>
<release_tolerance>0.0005</release_tolerance>
<disable_collisions_on_attach>false</disable_collisions_on_attach>
<contact_topic>__default_topic__</contact_topic>
</plugin>
</gazebo>
<transmission name="${robot_prefix}_gripper_tran_1">
<robotNamespace>/${robot_name}</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_prefix}_gripper_left_base_joint">
<hardwareInterface>${hardware_interface}</hardwareInterface>
</joint>
<actuator name="${robot_prefix}_gripper_motor_1">
<hardwareInterface>${hardware_interface}</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_prefix}_gripper_tran_2">
<robotNamespace>/${robot_name}</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_prefix}_gripper_right_base_joint">
<hardwareInterface>${hardware_interface}</hardwareInterface>
</joint>
<actuator name="${robot_prefix}_gripper_motor_2">
<hardwareInterface>${hardware_interface}</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_prefix}_gripper_tran_3">
<robotNamespace>/${robot_name}</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_prefix}_gripper_left_finger_joint">
<hardwareInterface>${hardware_interface}</hardwareInterface>
</joint>
<actuator name="${robot_prefix}_gripper_motor_3">
<hardwareInterface>${hardware_interface}</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="${robot_prefix}_gripper_tran_4">
<robotNamespace>/${robot_name}</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_prefix}_gripper_right_finger_joint">
<hardwareInterface>${hardware_interface}</hardwareInterface>
</joint>
<actuator name="${robot_prefix}_gripper_motor_4">
<hardwareInterface>${hardware_interface}</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>