94 lines
3.2 KiB
XML
94 lines
3.2 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
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<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
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<xacro:macro name="hand" params="connected_to:='' ns:='' rpy:='0 0 0' xyz:='0 0 0' safety_distance:=0">
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<xacro:unless value="${connected_to == ''}">
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<joint name="${ns}_hand_joint" type="fixed">
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<parent link="${connected_to}"/>
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<child link="${ns}_hand"/>
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<origin xyz="${xyz}" rpy="${rpy}"/>
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</joint>
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</xacro:unless>
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<link name="${ns}_hand">
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<visual>
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<geometry>
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<mesh filename="package://franka_description/meshes/visual/hand.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 0.04" rpy="0 ${pi/2} ${pi/2}"/>
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<geometry>
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<cylinder radius="${0.04+safety_distance}" length="0.1"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 -0.05 0.04" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.04+safety_distance}"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0.05 0.04" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.04+safety_distance}"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 0.1" rpy="0 ${pi/2} ${pi/2}"/>
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<geometry>
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<cylinder radius="${0.02+safety_distance}" length="0.1"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 -0.05 0.1" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.02+safety_distance}"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0.05 0.1" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.02+safety_distance}"/>
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</geometry>
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</collision>
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</link>
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<!-- Define the hand_tcp frame -->
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<link name="${ns}_hand_tcp"/>
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<joint name="${ns}_hand_tcp_joint" type="fixed">
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<origin xyz="0 0 0.1034" rpy="0 0 0"/>
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<parent link="${ns}_hand"/>
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<child link="${ns}_hand_tcp"/>
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</joint>
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<link name="${ns}_leftfinger">
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<visual>
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<geometry>
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<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
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</geometry>
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</visual>
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</link>
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<link name="${ns}_rightfinger">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 ${pi}"/>
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<geometry>
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<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
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</geometry>
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</visual>
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</link>
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<joint name="${ns}_finger_joint1" type="prismatic">
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<parent link="${ns}_hand"/>
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<child link="${ns}_leftfinger"/>
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<origin xyz="0 0 0.0584" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
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</joint>
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<joint name="${ns}_finger_joint2" type="prismatic">
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<parent link="${ns}_hand"/>
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<child link="${ns}_rightfinger"/>
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<origin xyz="0 0 0.0584" rpy="0 0 0"/>
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<axis xyz="0 -1 0"/>
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<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
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<mimic joint="${ns}_finger_joint1"/>
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</joint>
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</xacro:macro>
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</robot>
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