From e5acbe3888f7bc844a782bc490e5e0a21da99524 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Thu, 10 Mar 2022 19:30:57 +0100
Subject: [PATCH] ROS distribution compatibility update
---
cmake/franka_descriptionConfig-version.cmake | 14 +
cmake/franka_descriptionConfig.cmake | 223 +++++++++++
meshes/collision/hand.stl | Bin 0 -> 10084 bytes
meshes/collision/link0.stl | Bin 0 -> 10084 bytes
meshes/collision/link1.stl | Bin 0 -> 15084 bytes
meshes/collision/link2.stl | Bin 0 -> 15084 bytes
meshes/collision/link3.stl | Bin 0 -> 15084 bytes
meshes/collision/link4.stl | Bin 0 -> 15084 bytes
meshes/collision/link5.stl | Bin 0 -> 15084 bytes
meshes/collision/link6.stl | Bin 0 -> 10084 bytes
meshes/collision/link7.stl | Bin 0 -> 10084 bytes
package.xml | 2 +-
robots/dual_panda_example.urdf.xacro | 4 +-
robots/hand.urdf.xacro | 2 +-
robots/hand.xacro | 37 +-
robots/panda_arm.urdf.xacro | 70 +++-
robots/panda_arm_hand.urdf.xacro | 7 -
robots/panda_gazebo.xacro | 388 +++++++++++++++++++
robots/utils.xacro | 115 ++++++
19 files changed, 834 insertions(+), 28 deletions(-)
create mode 100644 cmake/franka_descriptionConfig-version.cmake
create mode 100644 cmake/franka_descriptionConfig.cmake
create mode 100644 meshes/collision/hand.stl
create mode 100644 meshes/collision/link0.stl
create mode 100644 meshes/collision/link1.stl
create mode 100644 meshes/collision/link2.stl
create mode 100644 meshes/collision/link3.stl
create mode 100644 meshes/collision/link4.stl
create mode 100644 meshes/collision/link5.stl
create mode 100644 meshes/collision/link6.stl
create mode 100644 meshes/collision/link7.stl
delete mode 100644 robots/panda_arm_hand.urdf.xacro
create mode 100644 robots/panda_gazebo.xacro
create mode 100644 robots/utils.xacro
diff --git a/cmake/franka_descriptionConfig-version.cmake b/cmake/franka_descriptionConfig-version.cmake
new file mode 100644
index 0000000..da8c5d1
--- /dev/null
+++ b/cmake/franka_descriptionConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.8.2")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_EXACT True)
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/cmake/franka_descriptionConfig.cmake b/cmake/franka_descriptionConfig.cmake
new file mode 100644
index 0000000..e667279
--- /dev/null
+++ b/cmake/franka_descriptionConfig.cmake
@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+ if(NOT "${ARGN}" STREQUAL "")
+ if(${listname})
+ list(REMOVE_ITEM ${listname} ${ARGN})
+ endif()
+ list(APPEND ${listname} ${ARGN})
+ endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+ foreach(_item ${ARGN})
+ list(FIND ${listname} ${_item} _index)
+ if(_index EQUAL -1)
+ list(APPEND ${listname} ${_item})
+ endif()
+ endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+ set(${VAR} "")
+ set(_argn ${ARGN})
+ list(LENGTH _argn _count)
+ set(_index 0)
+ while(${_index} LESS ${_count})
+ list(GET _argn ${_index} lib)
+ if("${lib}" MATCHES "^(debug|optimized|general)$")
+ math(EXPR _index "${_index} + 1")
+ if(${_index} EQUAL ${_count})
+ message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+ endif()
+ list(GET _argn ${_index} library)
+ list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+ else()
+ list(APPEND ${VAR} "${lib}")
+ endif()
+ math(EXPR _index "${_index} + 1")
+ endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+ set(${VAR} "")
+ foreach(lib ${ARGN})
+ string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+ list(APPEND ${VAR} "${lib}")
+ endforeach()
+endmacro()
+
+
+if(franka_description_CONFIG_INCLUDED)
+ return()
+endif()
+set(franka_description_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("FALSE" STREQUAL "TRUE")
+ set(franka_description_SOURCE_PREFIX /tmp/binarydeb/ros-noetic-franka-description-0.8.2)
+ set(franka_description_DEVEL_PREFIX /tmp/binarydeb/ros-noetic-franka-description-0.8.2/obj-x86_64-linux-gnu/devel)
+ set(franka_description_INSTALL_PREFIX "")
+ set(franka_description_PREFIX ${franka_description_DEVEL_PREFIX})
+else()
+ set(franka_description_SOURCE_PREFIX "")
+ set(franka_description_DEVEL_PREFIX "")
+ set(franka_description_INSTALL_PREFIX /opt/ros/noetic)
+ set(franka_description_PREFIX ${franka_description_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+ set(_msg "WARNING: package 'franka_description' is deprecated")
+ # append custom deprecation text if available
+ if(NOT "" STREQUAL "TRUE")
+ set(_msg "${_msg} ()")
+ endif()
+ message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(franka_description_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT " " STREQUAL " ")
+ set(franka_description_INCLUDE_DIRS "")
+ set(_include_dirs "")
+ if(NOT "https://github.com/frankaemika/franka_ros/issues " STREQUAL " ")
+ set(_report "Check the issue tracker 'https://github.com/frankaemika/franka_ros/issues' and consider creating a ticket if the problem has not been reported yet.")
+ elseif(NOT "http://wiki.ros.org/franka_description " STREQUAL " ")
+ set(_report "Check the website 'http://wiki.ros.org/franka_description' for information and consider reporting the problem.")
+ else()
+ set(_report "Report the problem to the maintainer 'Franka Emika GmbH <support@franka.de>' and request to fix the problem.")
+ endif()
+ foreach(idir ${_include_dirs})
+ if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+ set(include ${idir})
+ elseif("${idir} " STREQUAL "include ")
+ get_filename_component(include "${franka_description_DIR}/../../../include" ABSOLUTE)
+ if(NOT IS_DIRECTORY ${include})
+ message(FATAL_ERROR "Project 'franka_description' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. ${_report}")
+ endif()
+ else()
+ message(FATAL_ERROR "Project 'franka_description' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '\${prefix}/${idir}'. ${_report}")
+ endif()
+ _list_append_unique(franka_description_INCLUDE_DIRS ${include})
+ endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+ # keep build configuration keywords, target names and absolute libraries as-is
+ if("${library}" MATCHES "^(debug|optimized|general)$")
+ list(APPEND franka_description_LIBRARIES ${library})
+ elseif(${library} MATCHES "^-l")
+ list(APPEND franka_description_LIBRARIES ${library})
+ elseif(${library} MATCHES "^-")
+ # This is a linker flag/option (like -pthread)
+ # There's no standard variable for these, so create an interface library to hold it
+ if(NOT franka_description_NUM_DUMMY_TARGETS)
+ set(franka_description_NUM_DUMMY_TARGETS 0)
+ endif()
+ # Make sure the target name is unique
+ set(interface_target_name "catkin::franka_description::wrapped-linker-option${franka_description_NUM_DUMMY_TARGETS}")
+ while(TARGET "${interface_target_name}")
+ math(EXPR franka_description_NUM_DUMMY_TARGETS "${franka_description_NUM_DUMMY_TARGETS}+1")
+ set(interface_target_name "catkin::franka_description::wrapped-linker-option${franka_description_NUM_DUMMY_TARGETS}")
+ endwhile()
+ add_library("${interface_target_name}" INTERFACE IMPORTED)
+ if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+ set_property(
+ TARGET
+ "${interface_target_name}"
+ APPEND PROPERTY
+ INTERFACE_LINK_LIBRARIES "${library}")
+ else()
+ target_link_options("${interface_target_name}" INTERFACE "${library}")
+ endif()
+ list(APPEND franka_description_LIBRARIES "${interface_target_name}")
+ elseif(TARGET ${library})
+ list(APPEND franka_description_LIBRARIES ${library})
+ elseif(IS_ABSOLUTE ${library})
+ list(APPEND franka_description_LIBRARIES ${library})
+ else()
+ set(lib_path "")
+ set(lib "${library}-NOTFOUND")
+ # since the path where the library is found is returned we have to iterate over the paths manually
+ foreach(path /opt/ros/noetic/lib;/opt/ros/noetic/lib)
+ find_library(lib ${library}
+ PATHS ${path}
+ NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+ if(lib)
+ set(lib_path ${path})
+ break()
+ endif()
+ endforeach()
+ if(lib)
+ _list_append_unique(franka_description_LIBRARY_DIRS ${lib_path})
+ list(APPEND franka_description_LIBRARIES ${lib})
+ else()
+ # as a fall back for non-catkin libraries try to search globally
+ find_library(lib ${library})
+ if(NOT lib)
+ message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'franka_description'? Did you find_package() it before the subdirectory containing its code is included?")
+ endif()
+ list(APPEND franka_description_LIBRARIES ${lib})
+ endif()
+ endif()
+endforeach()
+
+set(franka_description_EXPORTED_TARGETS "")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${franka_description_EXPORTED_TARGETS})
+ if(NOT TARGET ${t})
+ add_custom_target(${t})
+ endif()
+endforeach()
+
+set(depends "xacro")
+foreach(depend ${depends})
+ string(REPLACE " " ";" depend_list ${depend})
+ # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+ list(GET depend_list 0 franka_description_dep)
+ list(LENGTH depend_list count)
+ if(${count} EQUAL 1)
+ # simple dependencies must only be find_package()-ed once
+ if(NOT ${franka_description_dep}_FOUND)
+ find_package(${franka_description_dep} REQUIRED NO_MODULE)
+ endif()
+ else()
+ # dependencies with components must be find_package()-ed again
+ list(REMOVE_AT depend_list 0)
+ find_package(${franka_description_dep} REQUIRED NO_MODULE ${depend_list})
+ endif()
+ _list_append_unique(franka_description_INCLUDE_DIRS ${${franka_description_dep}_INCLUDE_DIRS})
+
+ # merge build configuration keywords with library names to correctly deduplicate
+ _pack_libraries_with_build_configuration(franka_description_LIBRARIES ${franka_description_LIBRARIES})
+ _pack_libraries_with_build_configuration(_libraries ${${franka_description_dep}_LIBRARIES})
+ _list_append_deduplicate(franka_description_LIBRARIES ${_libraries})
+ # undo build configuration keyword merging after deduplication
+ _unpack_libraries_with_build_configuration(franka_description_LIBRARIES ${franka_description_LIBRARIES})
+
+ _list_append_unique(franka_description_LIBRARY_DIRS ${${franka_description_dep}_LIBRARY_DIRS})
+ _list_append_deduplicate(franka_description_EXPORTED_TARGETS ${${franka_description_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "")
+foreach(extra ${pkg_cfg_extras})
+ if(NOT IS_ABSOLUTE ${extra})
+ set(extra ${franka_description_DIR}/${extra})
+ endif()
+ include(${extra})
+endforeach()
diff --git a/meshes/collision/hand.stl b/meshes/collision/hand.stl
new file mode 100644
index 0000000000000000000000000000000000000000..4e820902eba7b9d959a2e0cc8091f4b0f09ed77a
GIT binary patch
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diff --git a/meshes/collision/link7.stl b/meshes/collision/link7.stl
new file mode 100644
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GIT binary patch
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HcmV?d00001
diff --git a/package.xml b/package.xml
index 6db9003..7271cea 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>franka_description</name>
- <version>0.7.0</version>
+ <version>0.8.2</version>
<description>franka_description contains URDF files and meshes of Franka Emika robots</description>
<maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
<license>Apache 2.0</license>
diff --git a/robots/dual_panda_example.urdf.xacro b/robots/dual_panda_example.urdf.xacro
index f98c133..3722915 100644
--- a/robots/dual_panda_example.urdf.xacro
+++ b/robots/dual_panda_example.urdf.xacro
@@ -27,10 +27,10 @@
<!-- right arm with gripper -->
<xacro:panda_arm arm_id="$(arg arm_id_1)" connected_to="base" xyz="0 -0.5 1" safety_distance="0.03"/>
- <xacro:hand ns="$(arg arm_id_1)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_1)_link8" safety_distance="0.03"/>
+ <xacro:hand arm_id="$(arg arm_id_1)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_1)_link8" safety_distance="0.03"/>
<!-- left arm with gripper -->
<xacro:panda_arm arm_id="$(arg arm_id_2)" connected_to="base" xyz="0 0.5 1" safety_distance="0.03"/>
- <xacro:hand ns="$(arg arm_id_2)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_2)_link8" safety_distance="0.03"/>
+ <xacro:hand arm_id="$(arg arm_id_2)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_2)_link8" safety_distance="0.03"/>
</robot>
diff --git a/robots/hand.urdf.xacro b/robots/hand.urdf.xacro
index a50b18c..08d3899 100644
--- a/robots/hand.urdf.xacro
+++ b/robots/hand.urdf.xacro
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
<xacro:include filename="hand.xacro"/>
- <xacro:hand ns="panda" safety_distance="0.03"/>
+ <xacro:hand arm_id="panda" safety_distance="0.03"/>
</robot>
diff --git a/robots/hand.xacro b/robots/hand.xacro
index 22e6a08..2ed482d 100644
--- a/robots/hand.xacro
+++ b/robots/hand.xacro
@@ -1,15 +1,15 @@
<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
- <xacro:macro name="hand" params="connected_to:='' ns:='' rpy:='0 0 0' xyz:='0 0 0' safety_distance:=0">
+ <xacro:macro name="hand" params="connected_to:='' arm_id:='panda' rpy:='0 0 0' xyz:='0 0 0' safety_distance:=0">
<xacro:unless value="${connected_to == ''}">
- <joint name="${ns}_hand_joint" type="fixed">
+ <joint name="${arm_id}_hand_joint" type="fixed">
<parent link="${connected_to}"/>
- <child link="${ns}_hand"/>
+ <child link="${arm_id}_hand"/>
<origin xyz="${xyz}" rpy="${rpy}"/>
</joint>
</xacro:unless>
- <link name="${ns}_hand">
+ <link name="${arm_id}_hand">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/hand.dae"/>
@@ -52,14 +52,21 @@
</geometry>
</collision>
</link>
- <link name="${ns}_leftfinger">
+ <!-- Define the hand_tcp frame -->
+ <link name="${arm_id}_hand_tcp" />
+ <joint name="${arm_id}_hand_tcp_joint" type="fixed">
+ <origin xyz="0 0 0.1034" rpy="0 0 0" />
+ <parent link="${arm_id}_hand" />
+ <child link="${arm_id}_hand_tcp" />
+ </joint>
+ <link name="${arm_id}_leftfinger">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
</link>
- <link name="${ns}_rightfinger">
+ <link name="${arm_id}_rightfinger">
<visual>
<origin xyz="0 0 0" rpy="0 0 ${pi}"/>
<geometry>
@@ -67,20 +74,20 @@
</geometry>
</visual>
</link>
- <joint name="${ns}_finger_joint1" type="prismatic">
- <parent link="${ns}_hand"/>
- <child link="${ns}_leftfinger"/>
+ <joint name="${arm_id}_finger_joint1" type="prismatic">
+ <parent link="${arm_id}_hand"/>
+ <child link="${arm_id}_leftfinger"/>
<origin xyz="0 0 0.0584" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
- <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+ <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
</joint>
- <joint name="${ns}_finger_joint2" type="prismatic">
- <parent link="${ns}_hand"/>
- <child link="${ns}_rightfinger"/>
+ <joint name="${arm_id}_finger_joint2" type="prismatic">
+ <parent link="${arm_id}_hand"/>
+ <child link="${arm_id}_rightfinger"/>
<origin xyz="0 0 0.0584" rpy="0 0 0"/>
<axis xyz="0 -1 0"/>
- <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
- <mimic joint="${ns}_finger_joint1" />
+ <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+ <mimic joint="${arm_id}_finger_joint1" />
</joint>
</xacro:macro>
</robot>
diff --git a/robots/panda_arm.urdf.xacro b/robots/panda_arm.urdf.xacro
index 31e7a2c..2e663d7 100644
--- a/robots/panda_arm.urdf.xacro
+++ b/robots/panda_arm.urdf.xacro
@@ -1,5 +1,71 @@
<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
- <xacro:include filename="$(find franka_description)/robots/panda_arm.xacro" />
- <xacro:panda_arm safety_distance="0.03"/>
+
+ <!-- Name of this panda -->
+ <xacro:arg name="arm_id" default="panda" />
+ <!-- Should a franka_gripper be mounted at the flange?" -->
+ <xacro:arg name="hand" default="false" />
+ <!-- Is the robot being simulated in gazebo?" -->
+ <xacro:arg name="gazebo" default="false" />
+
+ <xacro:unless value="$(arg gazebo)">
+ <!-- Create a URDF for a real hardware -->
+ <xacro:include filename="$(find franka_description)/robots/panda_arm.xacro" />
+ <xacro:panda_arm arm_id="$(arg arm_id)" safety_distance="0.03"/>
+
+ <xacro:if value="$(arg hand)">
+ <xacro:include filename="$(find franka_description)/robots/hand.xacro"/>
+ <xacro:hand arm_id="$(arg arm_id)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id)_link8" safety_distance="0.03"/>
+ </xacro:if>
+ </xacro:unless>
+
+ <xacro:if value="$(arg gazebo)">
+
+ <xacro:arg name="xyz" default="0 0 0" />
+ <xacro:arg name="rpy" default="0 0 0" />
+
+ <!-- Create a simulatable URDF -->
+ <xacro:include filename="$(find franka_description)/robots/utils.xacro" />
+ <xacro:include filename="$(find franka_description)/robots/panda_gazebo.xacro" />
+
+ <xacro:panda_arm arm_id="$(arg arm_id)" />
+
+ <xacro:if value="$(arg hand)">
+ <xacro:hand arm_id="$(arg arm_id)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id)_link8" />
+ <xacro:gazebo-joint joint="$(arg arm_id)_finger_joint1" transmission="hardware_interface/EffortJointInterface" />
+ <xacro:gazebo-joint joint="$(arg arm_id)_finger_joint2" transmission="hardware_interface/EffortJointInterface" />
+ </xacro:if>
+
+ <!-- Gazebo requires a joint to a link called "world" for statically mounted robots -->
+ <link name="world" />
+ <joint name="world_joint" type="fixed">
+ <origin xyz="$(arg xyz)" rpy="$(arg rpy)" />
+ <parent link="world" />
+ <child link="$(arg arm_id)_link0" />
+ </joint>
+
+
+ <xacro:gazebo-joint joint="$(arg arm_id)_joint1" transmission="hardware_interface/EffortJointInterface" />
+ <xacro:gazebo-joint joint="$(arg arm_id)_joint2" transmission="hardware_interface/EffortJointInterface" />
+ <xacro:gazebo-joint joint="$(arg arm_id)_joint3" transmission="hardware_interface/EffortJointInterface" />
+ <xacro:gazebo-joint joint="$(arg arm_id)_joint4" transmission="hardware_interface/EffortJointInterface" />
+ <xacro:gazebo-joint joint="$(arg arm_id)_joint5" transmission="hardware_interface/EffortJointInterface" />
+ <xacro:gazebo-joint joint="$(arg arm_id)_joint6" transmission="hardware_interface/EffortJointInterface" />
+ <xacro:gazebo-joint joint="$(arg arm_id)_joint7" transmission="hardware_interface/EffortJointInterface" />
+
+ <xacro:transmission-franka-state arm_id="$(arg arm_id)" />
+ <xacro:transmission-franka-model arm_id="$(arg arm_id)"
+ root="$(arg arm_id)_joint1"
+ tip="$(arg arm_id)_joint8"
+ />
+
+ <gazebo>
+ <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+ <controlPeriod>0.001</controlPeriod>
+ <robotSimType>franka_gazebo/FrankaHWSim</robotSimType>
+ </plugin>
+ <self_collide>true</self_collide>
+ </gazebo>
+ </xacro:if>
+
</robot>
diff --git a/robots/panda_arm_hand.urdf.xacro b/robots/panda_arm_hand.urdf.xacro
deleted file mode 100644
index b98feb6..0000000
--- a/robots/panda_arm_hand.urdf.xacro
+++ /dev/null
@@ -1,7 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
- <xacro:include filename="$(find franka_description)/robots/panda_arm.xacro"/>
- <xacro:include filename="$(find franka_description)/robots/hand.xacro"/>
- <xacro:panda_arm safety_distance="0.03"/>
- <xacro:hand ns="panda" rpy="0 0 ${-pi/4}" connected_to="panda_link8" safety_distance="0.03"/>
-</robot>
diff --git a/robots/panda_gazebo.xacro b/robots/panda_gazebo.xacro
new file mode 100644
index 0000000..085c19b
--- /dev/null
+++ b/robots/panda_gazebo.xacro
@@ -0,0 +1,388 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
+
+ <!-- =============================================================== -->
+ <!-- || This file does not contain official inertial properties || -->
+ <!-- || of panda robot. The values are from the identification || -->
+ <!-- || results published in: Identification of the Franka Emika || -->
+ <!-- || PandaRobot With Retrieval of Feasible Parameters Using || -->
+ <!-- || Penalty-Based Optimization || -->
+ <!-- || by: Claudio Gaz, Marco Cognetti, Alexander Oliva, || -->
+ <!-- || Paolo Robuffo Giordano, Alessandro de Luca || -->
+ <!-- =============================================================== -->
+
+ <xacro:macro name="panda_arm" params="arm_id:='panda' connected_to:='' xyz:='0 0 0' rpy:='0 0 0'">
+ <xacro:unless value="${not connected_to}">
+ <joint name="${arm_id}_joint_${connected_to}" type="fixed">
+ <parent link="${connected_to}"/>
+ <child link="${arm_id}_link0"/>
+ <origin rpy="${rpy}" xyz="${xyz}"/>
+ </joint>
+ </xacro:unless>
+
+ <link name="${arm_id}_link0">
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/visual/link0.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/collision/link0.stl"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <!-- Estimated guesses from CAD -->
+ <origin rpy="0 0 0" xyz="-0.041018 -0.00014 0.049974"/>
+ <mass value="0.629769"/>
+ <inertia ixx="0.00315" ixy="8.2904E-07" ixz="0.00015"
+ iyy="0.00388" iyz="8.2299E-06"
+ izz="0.004285" />
+ </inertial>
+ </link>
+
+ <link name="${arm_id}_link1">
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/visual/link1.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/collision/link1.stl"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.003875 0.002081 -0.04762"/>
+ <mass value="4.970684"/>
+ <inertia ixx="0.70337" ixy="-0.00013900" ixz="0.0067720"
+ iyy="0.70661" iyz="0.019169"
+ izz="0.0091170" />
+ </inertial>
+ </link>
+
+ <joint name="${arm_id}_joint1" type="revolute">
+ <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+ <origin rpy="0 0 0" xyz="0 0 0.333"/>
+ <parent link="${arm_id}_link0"/>
+ <child link="${arm_id}_link1"/>
+ <axis xyz="0 0 1"/>
+ <limit acceleration="15" lower="-2.9671" effort="87" upper="2.9671" velocity="2.5"/>
+ <dynamics D="1" K="7000" mu_coulomb="0" mu_viscous="16" damping="0.003" friction="0.0"/>
+ </joint>
+
+ <link name="${arm_id}_link2">
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/visual/link2.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/collision/link2.stl"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz=" -0.003141 -0.02872 0.003495"/>
+ <mass value="0.646926"/>
+ <inertia ixx="0.0079620" ixy="-3.9250e-3" ixz="1.0254e-02"
+ iyy="2.8110e-02" iyz="7.0400e-04"
+ izz="2.5995e-02" />
+ </inertial>
+ </link>
+
+ <joint name="${arm_id}_joint2" type="revolute">
+ <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+ <origin rpy="${-pi/2} 0 0" xyz="0 0 0"/>
+ <parent link="${arm_id}_link1"/>
+ <child link="${arm_id}_link2"/>
+ <axis xyz="0 0 1"/>
+ <limit acceleration="7.5" lower="-1.8326" effort="87" upper="1.8326" velocity="2.5"/>
+ <dynamics D="1" K="7000" mu_coulomb="0" mu_viscous="16" damping="0.003" friction="0.0"/>
+ </joint>
+
+ <link name="${arm_id}_link3">
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/visual/link3.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/collision/link3.stl"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="2.7518e-02 3.9252e-02 -6.6502e-02"/>
+ <mass value="3.228604"/>
+ <inertia ixx="3.7242e-02" ixy="-4.7610e-03" ixz="-1.1396e-02"
+ iyy="3.6155e-02" iyz="-1.2805e-02"
+ izz="1.0830e-02" />
+ </inertial>
+ </link>
+
+ <joint name="${arm_id}_joint3" type="revolute">
+ <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+ <origin rpy="${pi/2} 0 0" xyz="0 -0.316 0"/>
+ <parent link="${arm_id}_link2"/>
+ <child link="${arm_id}_link3"/>
+ <axis xyz="0 0 1"/>
+ <limit acceleration="12.5" lower="-2.9671" effort="87" upper="2.9671" velocity="2.5"/>
+ <dynamics D="1" K="7000" mu_coulomb="0" mu_viscous="16" damping="0.003" friction="0.0"/>
+ </joint>
+
+ <link name="${arm_id}_link4">
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/visual/link4.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/collision/link4.stl"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="-5.317e-02 1.04419e-01 2.7454e-02"/>
+ <mass value="3.587895"/>
+ <inertia ixx="2.5853e-02" ixy="7.7960e-03" ixz="-1.3320e-03"
+ iyy="1.9552e-02" iyz="8.6410e-03"
+ izz="2.8323e-02" />
+ </inertial>
+ </link>
+
+ <joint name="${arm_id}_joint4" type="revolute">
+ <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+ <origin rpy="${pi/2} 0 0" xyz="0.0825 0 0"/>
+ <parent link="${arm_id}_link3"/>
+ <child link="${arm_id}_link4"/>
+ <axis xyz="0 0 1"/>
+ <limit acceleration="12.5" lower="-3.1416" effort="87" upper="-0.4" velocity="2.5"/>
+ <dynamics D="1" K="7000" mu_coulomb="0" mu_viscous="16" damping="0.003" friction="0.0"/>
+ </joint>
+
+ <link name="${arm_id}_link5">
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/visual/link5.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/collision/link5.stl"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="-1.1953e-02 4.1065e-02 -3.8437e-02"/>
+ <mass value="1.225946"/>
+ <inertia ixx="3.5549e-02" ixy="-2.1170e-03" ixz="-4.0370e-03"
+ iyy="2.9474e-02" iyz="2.2900e-04"
+ izz="8.6270e-03" />
+ </inertial>
+ </link>
+
+ <joint name="${arm_id}_joint5" type="revolute">
+ <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+ <origin rpy="${-pi/2} 0 0" xyz="-0.0825 0.384 0"/>
+ <parent link="${arm_id}_link4"/>
+ <child link="${arm_id}_link5"/>
+ <axis xyz="0 0 1"/>
+ <limit acceleration="15" lower="-2.9671" effort="12" upper="2.9671" velocity="3"/>
+ <dynamics D="1" K="7000" mu_coulomb="0" mu_viscous="16" damping="0.003" friction="0.0"/>
+ </joint>
+
+ <link name="${arm_id}_link6">
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/visual/link6.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/collision/link6.stl"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="6.0149e-02 -1.4117e-02 -1.0517e-02"/>
+ <mass value="1.666555"/>
+ <inertia ixx="1.9640e-03" ixy="1.0900e-04" ixz="-1.1580e-03"
+ iyy="4.3540e-03" iyz="3.4100e-04"
+ izz="5.4330e-03" />
+ </inertial>
+ </link>
+
+ <joint name="${arm_id}_joint6" type="revolute">
+ <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+ <origin rpy="${pi/2} 0 0" xyz="0 0 0"/>
+ <parent link="${arm_id}_link5"/>
+ <child link="${arm_id}_link6"/>
+ <axis xyz="0 0 1"/>
+ <limit acceleration="20" lower="-0.0873" effort="12" upper="3.8223" velocity="3"/>
+ <dynamics D="1" K="7000" mu_coulomb="0" mu_viscous="16" damping="0.003" friction="0.0"/>
+ </joint>
+
+ <link name="${arm_id}_link7">
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/visual/link7.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/collision/link7.stl"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="1.0517e-02 -4.252e-03 6.1597e-02"/>
+ <mass value="7.35522e-01"/>
+ <inertia ixx="1.2516e-02" ixy="-4.2800e-04" ixz="-1.1960e-03"
+ iyy="1.0027e-02" iyz="-7.4100e-04"
+ izz="4.8150e-03"/>
+ </inertial>
+ </link>
+
+ <joint name="${arm_id}_joint7" type="revolute">
+ <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+ <origin rpy="${pi/2} 0 0" xyz="0.088 0 0"/>
+ <parent link="${arm_id}_link6"/>
+ <child link="${arm_id}_link7"/>
+ <axis xyz="0 0 1"/>
+ <limit acceleration="20" lower="-2.9671" effort="12" upper="2.9671" velocity="3"/>
+ <dynamics D="1" K="7000" mu_coulomb="0" mu_viscous="16" damping="0.003" friction="0.0"/>
+ </joint>
+
+ <link name="${arm_id}_link8" />
+
+ <joint name="${arm_id}_joint8" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0 0.107"/>
+ <parent link="${arm_id}_link7"/>
+ <child link="${arm_id}_link8"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+
+ </xacro:macro>
+
+ <xacro:macro name="hand" params="connected_to:='' arm_id:='' xyz:='0 0 0' rpy:='0 0 0'">
+ <xacro:include filename="$(find franka_description)/robots/utils.xacro"/>
+
+ <xacro:unless value="${connected_to == ''}">
+ <joint name="${arm_id}_hand_joint" type="fixed">
+ <parent link="${connected_to}"/>
+ <child link="${arm_id}_hand"/>
+ <origin xyz="${xyz}" rpy="${rpy}"/>
+ </joint>
+ </xacro:unless>
+
+ <link name="${arm_id}_hand">
+ <visual>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/visual/hand.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/collision/hand.stl" />
+ </geometry>
+ </collision>
+ <inertial>
+ <mass value="0.73" />
+ <origin xyz="-0.01 0 0.03" />
+ <inertia ixx="0.001" ixy="0" ixz="0"
+ iyy="0.0025" iyz="0"
+ izz="0.0017" />
+ </inertial>
+ </link>
+
+ <xacro:macro name="finger-collision" params="sign">
+ <!-- screw mount -->
+ <collision>
+ <origin xyz="0 ${sign}18.5e-3 11e-3" rpy="0 0 0"/>
+ <geometry>
+ <box size="22e-3 15e-3 20e-3" />
+ </geometry>
+ </collision>
+ <!-- cartriage sledge -->
+ <collision>
+ <origin xyz="0 ${sign}6.8e-3 2.2e-3" rpy="0 0 0"/>
+ <geometry>
+ <box size="22e-3 8.8e-3 3.8e-3" />
+ </geometry>
+ </collision>
+ <!-- diagonal finger -->
+ <collision>
+ <origin xyz="0 ${sign}15.9e-3 28.35e-3" rpy="${sign}${pi/6} 0 0"/>
+ <geometry>
+ <box size="17.5e-3 7e-3 23.5e-3" />
+ </geometry>
+ </collision>
+ <!-- rubber tip with which to grasp -->
+ <collision>
+ <origin xyz="0 ${sign}7.58e-3 45.25e-3" rpy="0 0 0"/>
+ <geometry>
+ <box size="17.5e-3 15.2e-3 18.5e-3" />
+ </geometry>
+ </collision>
+ </xacro:macro>
+
+ <link name="${arm_id}_leftfinger">
+ <xacro:inertia-cylinder mass="15e-3" radius="0.01" h="0.04"/>
+ <visual>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
+ </geometry>
+ </visual>
+ <xacro:finger-collision sign="+" />
+ </link>
+
+ <link name="${arm_id}_rightfinger">
+ <xacro:inertia-cylinder mass="15e-3" radius="0.01" h="0.04"/>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
+ <geometry>
+ <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
+ </geometry>
+ </visual>
+ <xacro:finger-collision sign="-" />
+ </link>
+
+ <!-- Friction specific material for Rubber/Rubber contact -->
+ <!-- See: -->
+ <xacro:gazebo-friction link="${arm_id}_leftfinger" mu="1.13" />
+ <xacro:gazebo-friction link="${arm_id}_rightfinger" mu="1.13" />
+
+ <joint name="${arm_id}_finger_joint1" type="prismatic">
+ <parent link="${arm_id}_hand"/>
+ <child link="${arm_id}_leftfinger"/>
+ <origin xyz="0 0 0.0584" rpy="0 0 0"/>
+ <axis xyz="0 1 0"/>
+ <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+ <dynamics friction="0.0" damping="0.03"/>
+ </joint>
+
+ <joint name="${arm_id}_finger_joint2" type="prismatic">
+ <parent link="${arm_id}_hand"/>
+ <child link="${arm_id}_rightfinger"/>
+ <origin xyz="0 0 0.0584" rpy="0 0 0"/>
+ <axis xyz="0 -1 0"/>
+ <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+ <dynamics friction="0.0" damping="0.03"/>
+ <mimic joint="${arm_id}_finger_joint1" />
+ </joint>
+ </xacro:macro>
+</robot>
diff --git a/robots/utils.xacro b/robots/utils.xacro
new file mode 100644
index 0000000..d6b53a1
--- /dev/null
+++ b/robots/utils.xacro
@@ -0,0 +1,115 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+
+ <!-- ========================================================== -->
+ <!-- Adds the required tags to simulate one joint in gazebo -->
+ <!-- -->
+ <!-- joint - Name of the panda joint to simulate -->
+ <!-- transmission - type of the transmission of the joint -->
+ <!-- ========================================================== -->
+ <xacro:macro name="gazebo-joint" params="joint transmission:=hardware_interface/EffortJointInterface">
+ <gazebo reference="${joint}">
+ <!-- Needed for ODE to output external wrenches on joints -->
+ <provideFeedback>true</provideFeedback>
+ </gazebo>
+
+ <transmission name="${joint}_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${joint}">
+ <hardwareInterface>${transmission}</hardwareInterface>
+ </joint>
+ <actuator name="${joint}_motor">
+ <hardwareInterface>${transmission}</hardwareInterface>
+ </actuator>
+ </transmission>
+ </xacro:macro>
+
+ <xacro:macro name="gazebo-friction" params="link mu">
+ <gazebo reference="${link}">
+ <collision>
+ <max_contacts>10</max_contacts>
+ <surface>
+ <contact>
+ <ode>
+ <!-- These two parameter need application specific tuning. -->
+ <!-- Usually you want no "snap out" velocity and a generous -->
+ <!-- penetration depth to keep the grasping stable -->
+ <max_vel>0</max_vel>
+ <min_depth>0.001</min_depth>
+ </ode>
+ </contact>
+ <friction>
+ <ode>
+ <mu>${mu}</mu>
+ <mu2>${mu}</mu2>
+ </ode>
+ </friction>
+ <bounce/>
+ </surface>
+ </collision>
+ </gazebo>
+ </xacro:macro>
+
+ <!-- ========================================================== -->
+ <!-- Adds the required tags to provide a `FrankaStateInterface` -->
+ <!-- when simulating with franka_hw_sim plugin -->
+ <!-- -->
+ <!-- arm_id - Arm ID of the panda to simulate (default 'panda') -->
+ <!-- ========================================================== -->
+ <xacro:macro name="transmission-franka-state" params="arm_id:=panda">
+ <transmission name="${arm_id}_franka_state">
+ <type>franka_hw/FrankaStateInterface</type>
+ <joint name="${arm_id}_joint1"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></joint>
+ <joint name="${arm_id}_joint2"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></joint>
+ <joint name="${arm_id}_joint3"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></joint>
+ <joint name="${arm_id}_joint4"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></joint>
+ <joint name="${arm_id}_joint5"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></joint>
+ <joint name="${arm_id}_joint6"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></joint>
+ <joint name="${arm_id}_joint7"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></joint>
+
+ <actuator name="${arm_id}_motor1"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></actuator>
+ <actuator name="${arm_id}_motor2"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></actuator>
+ <actuator name="${arm_id}_motor3"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></actuator>
+ <actuator name="${arm_id}_motor4"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></actuator>
+ <actuator name="${arm_id}_motor5"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></actuator>
+ <actuator name="${arm_id}_motor6"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></actuator>
+ <actuator name="${arm_id}_motor7"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></actuator>
+ </transmission>
+ </xacro:macro>
+
+ <!-- ============================================================ -->
+ <!-- Adds the required tags to provide a `FrankaModelInterface` -->
+ <!-- when simulating with franka_hw_sim plugin -->
+ <!-- -->
+ <!-- arm_id - Arm ID of the panda to simulate (default 'panda') -->
+ <!-- root - Joint name of the base of the robot -->
+ <!-- tip - Joint name of the tip of the robot (flange or hand) -->
+ <!-- ============================================================ -->
+ <xacro:macro name="transmission-franka-model" params="arm_id:=panda root:=panda_joint1 tip:=panda_joint7">
+ <transmission name="${arm_id}_franka_model">
+ <type>franka_hw/FrankaModelInterface</type>
+ <joint name="${root}">
+ <role>root</role>
+ <hardwareInterface>franka_hw/FrankaModelInterface</hardwareInterface>
+ </joint>
+ <joint name="${tip}">
+ <role>tip</role>
+ <hardwareInterface>franka_hw/FrankaModelInterface</hardwareInterface>
+ </joint>
+
+ <actuator name="${root}_motor_root"><hardwareInterface>franka_hw/FrankaModelInterface</hardwareInterface></actuator>
+ <actuator name="${tip}_motor_tip" ><hardwareInterface>franka_hw/FrankaModelInterface</hardwareInterface></actuator>
+ </transmission>
+ </xacro:macro>
+
+ <xacro:macro name="inertia-cylinder" params="mass radius h">
+ <inertial>
+ <mass value="${mass}" />
+ <inertia ixx="${1./12 * mass * (3 * radius**2 + h**2)}" ixy = "0" ixz = "0"
+ iyy="${1./12 * mass * (3 * radius**2 + h**2)}" iyz = "0"
+ izz="${1./2 * mass * radius**2}" />
+ </inertial>
+ </xacro:macro>
+
+</robot>
--
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