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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="allegro_hand_right">
<!--
rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch
-->
<xacro:property name="DEG2RAD" value="0.01745329251" />
<!-- ======================== BASE PARAMS ========================= -->
<xacro:property name="base_link_z" value="0.095" />
<!-- ======================== FINGER PARAMS ======================== -->
<xacro:property name="links_x" value="0.0196" />
<xacro:property name="links_y" value="0.0275" />
<xacro:property name="link0_z" value="0.0164" />
<xacro:property name="link1_z" value="0.0540" />
<xacro:property name="link2_z" value="0.0384" />
<!-- full height from joint to tip. when used,
the radius of the finger tip sphere will be subtracted
and one fixed link will be added for the tip. -->
<xacro:property name="link3_z" value="0.0387" />
<xacro:property name="fingerTip_r" value="0.0120" />
<xacro:property name="offset_origin_x_const" value="0" />
<xacro:property name="offset_origin_y_const" value="0.0435" /> <!--0.0435, 0.044981-->
<xacro:property name="offset_origin_z_const" value="-0.001542" /> <!--0.002298-->
<xacro:property name="offset_origin_z_mid_const" value="0.0007" /> <!--0.002298-->
<!-- ========================= THUMB PARAMS ========================= -->
<xacro:property name="link0_t_x" value="0.0358" />
<xacro:property name="link0_t_y" value="0.0340" />
<xacro:property name="link0_t_z" value="0.0455" />
<xacro:property name="link1_t_z" value="0.0177" />
<xacro:property name="link2_t_z" value="0.0514" />
<xacro:property name="link3_t_z" value="0.0543" />
<!-- ========================= LIMITS ========================= -->
<xacro:property name="joint_safety_margin" value="0.1" />
<xacro:property name="limit_0_up" value="0.57" />
<xacro:property name="limit_0_low" value="-0.57" />
<xacro:property name="limit_1_up" value="1.71" />
<xacro:property name="limit_1_low" value="-0.296" />
<xacro:property name="limit_2_up" value="1.809" />
<xacro:property name="limit_2_low" value="-0.274" />
<xacro:property name="limit_3_up" value="1.718" />
<xacro:property name="limit_3_low" value=" -0.327" />
<xacro:property name="limit_0_t_up" value="1.496" />
<xacro:property name="limit_0_t_low" value="0.363" />
<xacro:property name="limit_1_t_up" value="1.263" />
<xacro:property name="limit_1_t_low" value="-0.205" />
<xacro:property name="limit_2_t_up" value="1.744" />
<xacro:property name="limit_2_t_low" value="-0.289" />
<xacro:property name="limit_3_t_up" value="1.819" />
<xacro:property name="limit_3_t_low" value="-0.262" />
<!-- ============================================================================= -->
<!-- ============================================================================= -->
<!-- ============================================================================= -->
<!-- BASE -->
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://allegro_hand_description/meshes/base_link.STL" />
</geometry>
<!-- LEFT -->
<!-- <origin rpy="${-90*DEG2RAD} 0 0" xyz="0 0 0 "/> -->
<!-- RIGHT -->
<origin rpy="0 0 0" xyz="0 0 0 "/>
<material name="black">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.009300 0 -${base_link_z/2}"/>
<geometry>
<box size="0.0408 0.1130 ${base_link_z}"/>
</geometry>
</collision>
</link>
<!-- ============================================================================= -->
<!-- FINGERS -->
<!-- RIGHT HAND due to which finger is number 0 -->
<!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
<xacro:finger
finger_num= "0"
offset_origin_x= "${offset_origin_x_const}"
offset_origin_y= "${offset_origin_y_const}"
offset_origin_z= "${offset_origin_z_const}"
finger_angle_r= "-${5.0*DEG2RAD}"
/>
<xacro:finger
finger_num= "1"
offset_origin_x= "${offset_origin_x_const}"
offset_origin_y= "0"
offset_origin_z= "${offset_origin_z_mid_const}"
finger_angle_r= "0.0"
/>
<xacro:finger
finger_num= "2"
offset_origin_x= "${offset_origin_x_const}"
offset_origin_y= "-${offset_origin_y_const}"
offset_origin_z= "${offset_origin_z_const}"
finger_angle_r= "${5.0*DEG2RAD}"
/>
<!-- THUMB -->
<xacro:thumb_right
finger_num= "3"
offset_origin_x= "-0.0182"
offset_origin_y= "0.019333"
offset_origin_z= "-0.045987"
finger_angle_r= "0"
finger_angle_p= "-${95*DEG2RAD}"
finger_angle_y= "-${90*DEG2RAD}"
/>
<!--
<xacro:thumb_left
finger_num= "3"
offset_origin_x= "-0.0182"
offset_origin_y= "-0.019333"
offset_origin_z= "-0.045987"
finger_angle_r= "${90*DEG2RAD}"
finger_angle_p= "-${95*DEG2RAD}"
finger_angle_y= "${90*DEG2RAD}"
/>
-->
<!-- ============================================================================= -->
<!-- ============================================================================= -->
<!-- ============================================================================= -->
<!-- THUMB MACRO -->
<xacro:macro name="thumb_right" params="finger_num offset_origin_x offset_origin_y offset_origin_z finger_angle_r finger_angle_p finger_angle_y">
<!-- [LINK 12] -->
<link name="link_${finger_num*4+0}">
<visual>
<geometry>
<!-- RIGHT -->
<mesh filename="package://allegro_hand_description/meshes/link_12.0_right.STL" />
<!-- LEFT -->
<!-- <mesh filename="package://allegro_hand_description/meshes/link_12.0_left.STL" /> -->
</geometry>
<material name="black">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="${link0_t_x} ${link0_t_y} ${link0_t_z}"/>
</geometry>
<!-- RIGHT -->
<origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${.018/2} ${.029/2}"/>
<!-- LEFT -->
<!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${-.018/2} ${.029/2}"/> -->
</collision>
</link>
<joint name="joint_${finger_num*4+0}" type="revolute">
<axis xyz="-1 0 0"/>
<limit effort="0" velocity="0" lower="${limit_0_t_low-joint_safety_margin}" upper="${limit_0_t_up-joint_safety_margin}" />
<parent link="base_link"/>
<child link="link_${finger_num*4+0}"/>
<origin rpy="${finger_angle_r} ${finger_angle_p} ${finger_angle_y}" xyz="${offset_origin_x} ${offset_origin_y} ${offset_origin_z}"/>
</joint>
<!-- [LINK 13] -->
<link name="link_${finger_num*4+1}">
<visual>
<geometry>
<mesh filename="package://allegro_hand_description/meshes/link_13.0.STL" />
</geometry>
<material name="black">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="${links_x} ${links_y} ${link1_t_z}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 ${link1_t_z/2}"/>
</collision>
</link>
<joint name="joint_${finger_num*4+1}" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0" velocity="0" lower="${limit_1_t_low+joint_safety_margin}" upper="${limit_1_t_up-joint_safety_margin}" />
<parent link="link_${finger_num*4+0}"/>
<child link="link_${finger_num*4+1}"/>
<!-- RIGHT -->
<origin xyz="-0.027 0.005 0.0399"/>
<!-- LEFT -->
<!-- <origin xyz="-0.027 -0.005 0.0399"/> -->
</joint>
<!-- [LINK 14] -->
<link name="link_${finger_num*4+2}">
<visual>
<geometry>
<mesh filename="package://allegro_hand_description/meshes/link_14.0.STL" />
</geometry>
<material name="black">
</material>
</visual>
<collision>
<geometry>
<box size="${links_x} ${links_y} ${link2_t_z}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 ${link2_t_z/2}"/>
</collision>
</link>
<joint name="joint_${finger_num*4+2}" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="0" velocity="0" lower="${limit_2_t_low+joint_safety_margin}" upper="${limit_2_t_up-joint_safety_margin}" />
<parent link="link_${finger_num*4+1}"/>
<child link="link_${finger_num*4+2}"/>
<origin xyz="0 0 ${link1_t_z}"/>
</joint>
<!-- [LINK 15] -->
<link name="link_${finger_num*4+3}">
<visual>
<geometry>
<mesh filename="package://allegro_hand_description/meshes/link_15.0.STL" />
</geometry>
<material name="black">
</material>
</visual>
<collision>
<geometry>
<box size="${links_x} ${links_y} ${link3_t_z-fingerTip_r}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 ${(link3_t_z-fingerTip_r)/2}"/>
</collision>
</link>
<joint name="joint_${finger_num*4+3}" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="0" velocity="0" lower="${limit_3_t_low+joint_safety_margin}" upper="${limit_3_t_up-joint_safety_margin}" />
<parent link="link_${finger_num*4+2}"/>
<child link="link_${finger_num*4+3}"/>
<origin xyz="0 0 ${link2_t_z}"/>
</joint>
<!-- [FINGER TIP] -->
<link name="link_${finger_num*4+3}_tip">
<visual>
<geometry>
<mesh filename="package://allegro_hand_description/meshes/link_15.0_tip.STL" />
</geometry>
<material name="white">
<color rgba=".9 .9 .9 1"/>
</material>
</visual>
<collision>
<geometry>
<sphere radius="${fingerTip_r}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="joint_${finger_num*4+3}_tip" type="fixed">
<parent link="link_${finger_num*4+3}"/>
<child link="link_${finger_num*4+3}_tip"/>
<origin rpy="0 0 0" xyz="0 0 ${link3_t_z-fingerTip_r}"/> <!--0.0267000000000005-->
</joint>
</xacro:macro>
<!-- END THUMB MACRO -->
<!-- THREE FINGER MACRO -->
<xacro:macro name="finger" params="finger_num offset_origin_x offset_origin_y offset_origin_z finger_angle_r">
<!-- [LINK 0, 4, 8] -->
<link name="link_${finger_num*4+0}">
<visual>
<geometry>
<mesh filename="package://allegro_hand_description/meshes/link_0.0.STL" />
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="${links_x} ${links_y} ${link0_z}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 ${link0_z/2}"/>
</collision>
</link>
<joint name="joint_${finger_num*4+0}" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0" velocity="0" lower="${limit_0_low+joint_safety_margin}" upper="${limit_0_up-joint_safety_margin}" />
<parent link="base_link"/>
<child link="link_${finger_num*4+0}"/>
<origin rpy="${finger_angle_r} 0 0" xyz="${offset_origin_x} ${offset_origin_y} ${offset_origin_z}"/>
</joint>
<!-- [LINK 1, 5, 9] -->
<link name="link_${finger_num*4+1}">
<visual>
<geometry>
<mesh filename="package://allegro_hand_description/meshes/link_1.0.STL" />
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="${links_x} ${links_y} ${link1_z}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 ${link1_z/2}"/>
</collision>
</link>
<joint name="joint_${finger_num*4+1}" type="revolute">
<limit effort="0" velocity="0" lower="${limit_1_low+joint_safety_margin}" upper="${limit_1_up-joint_safety_margin}" />
<axis xyz="0 1 0"/>
<parent link="link_${finger_num*4+0}"/>
<child link="link_${finger_num*4+1}"/>
<origin xyz="0 0 ${link0_z}"/>
</joint>
<!-- [LINK 2, 6, 10]-->
<link name="link_${finger_num*4+2}">
<visual>
<geometry>
<mesh filename="package://allegro_hand_description/meshes/link_2.0.STL" />
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="${links_x} ${links_y} ${link2_z}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 ${link2_z/2}"/>
</collision>
</link>
<joint name="joint_${finger_num*4+2}" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="0" velocity="0" lower="${limit_2_low+joint_safety_margin}" upper="${limit_2_up-joint_safety_margin}" />
<parent link="link_${finger_num*4+1}"/>
<child link="link_${finger_num*4+2}"/>
<origin xyz="0 0 ${link1_z}"/>
</joint>
<!-- [LINK 3, 7, 11] -->
<link name="link_${finger_num*4+3}">
<visual>
<geometry>
<mesh filename="package://allegro_hand_description/meshes/link_3.0.STL" />
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<box size="${links_x} ${links_y} ${link3_z-fingerTip_r}"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 ${(link3_z-fingerTip_r)/2}"/>
</collision>
</link>
<joint name="joint_${finger_num*4+3}" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="0" velocity="0" lower="${limit_3_low+joint_safety_margin}" upper="${limit_3_up-joint_safety_margin}" />
<parent link="link_${finger_num*4+2}"/>
<child link="link_${finger_num*4+3}"/>
<origin xyz="0 0 ${link2_z}"/>
</joint>
<!-- [FINGER TIP] -->
<link name="link_${finger_num*4+3}_tip">
<visual>
<geometry>
<mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.STL" />
</geometry>
<material name="white">
<color rgba=".9 .9 .9 1"/>
</material>
</visual>
<collision>
<geometry>
<sphere radius="${fingerTip_r}"/>
</geometry>
</collision>
</link>
<joint name="joint_${finger_num*4+3}_tip" type="fixed">
<parent link="link_${finger_num*4+3}"/>
<child link="link_${finger_num*4+3}_tip"/>
<origin rpy="0 0 0" xyz="0 0 ${link3_z-fingerTip_r}"/>
</joint>
</xacro:macro>
<!-- [[END]] THREE FINGER MACRO -->
</robot>
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