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Signed-off-by: Paul Gesel <paulgesel@gmail.com>
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Submodule picknik_accessories
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| +3 −3 | descriptions/brackets/mtc_ur_tool_changer/mtc_ur_tool_changer.urdf.xacro |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,60 @@ | ||
| <?xml version="1.0" encoding="utf-8"?> | ||
| <robot xmlns:xacro="http://ros.org/wiki/xacro"> | ||
| <!-- wrist_3_link/forearm_link have a radius 0f 0.0375m. Actual offset from surface is (radius - attached_link's radius). --> | ||
| <!-- UR Drivers check for a 2.5cm distance between tool_flange/wrist_3 and forearm links. --> | ||
| <xacro:macro name="forearm_pinch_link" params="prefix:='' length:=0.28 offset:=0.015"> | ||
| <xacro:property name="prefix_" value='${prefix + "_" if prefix else ""}' /> | ||
| <xacro:property name="radius" value='${0.0375 + offset}' /> | ||
| <link name="${prefix_}forearm_pinch_link"> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 ${pi/16}"/> | ||
| <geometry> | ||
| <cylinder length="${length}" radius="${radius}"/> | ||
| </geometry> | ||
| <material name="silver"> | ||
| <color rgba="0.75 0.65 0.65 0"/> | ||
| </material> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz="0 0 0" rpy="0 0 ${pi/16}"/> | ||
| <geometry> | ||
| <cylinder length="${length}" radius="${radius}"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <joint name="${prefix_}forearm_pinch_joint" type="fixed"> | ||
| <parent link="${prefix_}forearm_link"/> | ||
| <child link="${prefix_}forearm_pinch_link"/> | ||
| <origin xyz="${-0.08 - length/2} 0 0.0049" rpy="0 ${pi/2} 0" /> | ||
| </joint> | ||
| </xacro:macro> | ||
|
|
||
| <xacro:macro name="wrist_3_pinch_link" params="prefix:='' length:=0.11 offset:=0.012"> | ||
| <xacro:property name="prefix_" value='${prefix + "_" if prefix else ""}' /> | ||
| <xacro:property name="radius" value='${0.0375 + offset}' /> | ||
| <link name="${prefix_}wrist_3_pinch_link"> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <cylinder length="${length}" radius="${radius}"/> | ||
| </geometry> | ||
| <material name="silver"> | ||
| <color rgba="0.75 0.65 0.65 0"/> | ||
| </material> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <cylinder length="${length}" radius="${radius}"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
|
|
||
| <joint name="${prefix_}wrist_3_pinch_joint" type="fixed"> | ||
| <parent link="${prefix_}wrist_3_link"/> | ||
| <child link="${prefix_}wrist_3_pinch_link"/> | ||
| <origin xyz="0 0 0" rpy="0 0 ${pi/16}" /> | ||
| </joint> | ||
| </xacro:macro> | ||
| </robot> |