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Possibility to choose to spawn finger_pads #160

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14 changes: 9 additions & 5 deletions robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -25,18 +25,22 @@
</link>
</xacro:macro>

<xacro:macro name="finger_joints" params="prefix fingerprefix reflect">
<xacro:macro name="finger_joints" params="prefix fingerprefix reflect pad">
<xacro:outer_finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
<xacro:inner_knuckle_joint prefix="${prefix}" fingerprefix="${fingerprefix}" reflect="${reflect}"/>
<xacro:inner_finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
<xacro:inner_finger_pad_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
<xacro:if value="${pad}">
<xacro:inner_finger_pad_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
</xacro:if>
</xacro:macro>

<xacro:macro name="finger_links" params="prefix fingerprefix stroke">
<xacro:macro name="finger_links" params="prefix fingerprefix stroke pad">
<xacro:outer_knuckle prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
<xacro:outer_finger prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
<xacro:inner_finger prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
<xacro:inner_finger_pad prefix="${prefix}" fingerprefix="${fingerprefix}"/>
<xacro:if value="${pad}">
<xacro:inner_finger_pad prefix="${prefix}" fingerprefix="${fingerprefix}"/>
</xacro:if>
<xacro:inner_knuckle prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
</xacro:macro>
</robot>
18 changes: 9 additions & 9 deletions robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -192,18 +192,18 @@

<xacro:include filename="$(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f.xacro" />

<xacro:macro name="finger_joint" params="prefix">
<xacro:macro name="finger_joint" params="prefix pad">
<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="${prefix}" fingerprefix="left" reflect="1.0"/>
<xacro:finger_joints prefix="${prefix}" fingerprefix="left" reflect="1.0" pad="${pad}" />
</xacro:macro>

<xacro:macro name="right_outer_knuckle_joint" params="prefix">
<xacro:macro name="right_outer_knuckle_joint" params="prefix pad">
<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" />
Expand All @@ -212,15 +212,15 @@
<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:finger_joints prefix="${prefix}" fingerprefix="right" reflect="-1.0" pad="${pad}" />
</xacro:macro>

<xacro:macro name="robotiq_arg2f_140" params="prefix">
<xacro:macro name="robotiq_arg2f_140" params="prefix pad:=1">
<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="${prefix}"/>
<xacro:finger_links prefix="${prefix}" fingerprefix="left" stroke="140" pad="${pad}" />
<xacro:finger_links prefix="${prefix}" fingerprefix="right" stroke="140" pad="${pad}" />
<xacro:finger_joint prefix="${prefix}" pad="${pad}"/>
<xacro:right_outer_knuckle_joint prefix="${prefix}" pad="${pad}" />
<xacro:robotiq_arg2f_transmission prefix="${prefix}"/>
</xacro:macro>
</robot>