gripper.gazebo.xacro

<?xml version="1.0"?>
<!--

  Copyright (c) 2016, PAL Robotics, S.L.
  All rights reserved.

  This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
  To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
  Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">

  <!-- VIRTUAL (mimic) JOINTS -->
  <xacro:macro name="virtual_joints" params="name">
    <gazebo>
      <plugin name="mimic_${name}_inner_double_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
        <joint>${name}_joint</joint>
        <mimicJoint>${name}_inner_double_joint</mimicJoint>
        <multiplier>1.0</multiplier>
        <offset>0.0</offset>
        <!-- <hasPID/> -->
      </plugin>
      <plugin name="mimic_${name}_fingertip_1_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
        <joint>${name}_joint</joint>
        <mimicJoint>${name}_fingertip_1_joint</mimicJoint>
        <multiplier>-1.0</multiplier>
        <offset>0.0</offset>
        <!-- <hasPID/> -->
      </plugin>

      <plugin name="mimic_${name}_fingertip_2_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
        <joint>${name}_joint</joint>
        <mimicJoint>${name}_fingertip_2_joint</mimicJoint>
        <multiplier>-1.0</multiplier>
        <offset>0.0</offset>
        <!-- <hasPID/> -->
      </plugin>
      
      <plugin name="mimic_${name}_inner_single_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
        <joint>${name}_joint</joint>
        <mimicJoint>${name}_inner_single_joint</mimicJoint>
        <multiplier>-1.0</multiplier>
        <offset>0.0</offset>
        <!-- <hasPID/> -->
      </plugin>

      <plugin name="mimic_${name}_motor_single_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
        <joint>${name}_joint</joint>
        <mimicJoint>${name}_motor_single_joint</mimicJoint>
        <multiplier>-1.0</multiplier>
        <offset>0.0</offset>
        <!-- <hasPID/> -->
      </plugin>
      <plugin name="mimic_${name}_fingertip_3_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
        <joint>${name}_joint</joint>
        <mimicJoint>${name}_fingertip_3_joint</mimicJoint>
        <multiplier>-1.0</multiplier>
        <offset>0.0</offset>
       <!-- <hasPID/> -->
      </plugin>
  </gazebo>

<!--     <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
      <actuatedJoint>${name}_joint</actuatedJoint>
      <virtualJoint>
        <name>${name}_inner_double_joint</name>
        <scale_factor>1.0</scale_factor>
      </virtualJoint> -->
<!--       <virtualJoint>
        <name>${name}_fingertip_1_joint</name>
        <scale_factor>-1.0</scale_factor>
      </virtualJoint>
      <virtualJoint>
        <name>${name}_fingertip_2_joint</name>
        <scale_factor>-1.0</scale_factor>
      </virtualJoint>
      <virtualJoint>
        <name>${name}_motor_single_joint</name>
        <scale_factor>1.0</scale_factor>
      </virtualJoint>
      <virtualJoint>
        <name>${name}_fingertip_3_joint</name>
        <scale_factor>-1.0</scale_factor>
      </virtualJoint> -->
<!--     </plugin> -->


  <gazebo reference="${name}_joint">
    <implicitSpringDamper>1</implicitSpringDamper>
    <provideFeedback>1</provideFeedback>
  </gazebo>

  <gazebo reference="${name}_inner_double_joint">
    <implicitSpringDamper>1</implicitSpringDamper>
    <provideFeedback>1</provideFeedback>
  </gazebo>

  <gazebo reference="${name}_fingertip_1_joint">
    <implicitSpringDamper>1</implicitSpringDamper>
    <provideFeedback>1</provideFeedback>
  </gazebo>

  <gazebo reference="${name}_fingertip_2_joint">
    <implicitSpringDamper>1</implicitSpringDamper>
    <provideFeedback>1</provideFeedback>
  </gazebo>

  <gazebo reference="${name}_motor_single_joint">
    <implicitSpringDamper>1</implicitSpringDamper>
    <provideFeedback>1</provideFeedback>
  </gazebo>

  <gazebo reference="${name}_fingertip_3_joint">
    <implicitSpringDamper>1</implicitSpringDamper>
    <provideFeedback>1</provideFeedback>
  </gazebo>

  <gazebo reference="${name}_base_link">
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="${name}_motor_double_link">
    <material>Gazebo/Orange</material>
  </gazebo>

  <gazebo reference="${name}_inner_double_link">
    <material>Gazebo/Orange</material>
  </gazebo>

  <gazebo reference="${name}_fingertip_1_link">
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="${name}_motor_single_link">
    <material>Gazebo/Orange</material>
  </gazebo>
  

  <gazebo reference="${name}_inner_single_link">
    <material>Gazebo/Orange</material>
  </gazebo>

  <gazebo reference="${name}_fingertip_2_link">
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  <gazebo reference="${name}_fingertip_3_link">
    <material>Gazebo/FlatBlack</material>
  </gazebo>

  </xacro:macro>

</robot>