Uni-Lab-OS/unilabos/device_mesh/device/slide_w140/macro_device.xacro

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from slide.urdf                     | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:macro name="slide_w140" params="mesh_path:='' length:=0.1 min_d:=0.1 max_d:=0.1 slider_d:=0.14 parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 r:=0" >


    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
      <origin xyz="${x} ${y} ${z}" rpy="0 0 ${r}" />
      <parent link="${parent_link}"/>
      <child link="${station_name}${device_name}device_link"/>
      <axis xyz="0 0 0"/>
    </joint>

    <link name="${station_name}${device_name}device_link"/>
    <joint name="${station_name}${device_name}device_link_joint" type="fixed">
      <origin xyz="${-min_d}  0 0" rpy="0 0 0" />
      <parent link="${station_name}${device_name}device_link"/>
      <child link="${station_name}${device_name}base_link"/>
      <axis xyz="0 0 0"/>
    </joint>

    <link name="${station_name}${device_name}base_link">
      <inertial>
        <origin rpy="0 0 0" xyz="-0.00073944 -0.070732 0.035966"/>
        <mass value="0.88697"/>
        <inertia ixx="0.0019162" ixy="-2.5282E-11" ixz="6.1083E-07" iyy="0.00066605" iyz="1.4627E-08" izz="0.0019573"/>
      </inertial>
      <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
          <mesh filename="file://${mesh_path}/device/slide_w140/meshes/base_link.STL"/>
        </geometry>
        <material name="">
          <color rgba="1 1 1 1"/>
        </material>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
          <mesh filename="file://${mesh_path}/device/slide_w140/meshes/base_link.STL"/>
        </geometry>
      </collision>
    </link>
    <link name="${station_name}${device_name}slider">
      <inertial>
        <origin rpy="0 0 0" xyz="0 -4.7184E-16 0.0095496"/>
        <mass value="0.27913"/>
        <inertia ixx="0.00048249" ixy="2.0866E-19" ixz="2.788E-21" iyy="0.00047014" iyz="1.1542E-17" izz="0.0009242"/>
      </inertial>
      <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
          <mesh filename="file://${mesh_path}/device/slide_w140/meshes/slider.STL" />
        </geometry>
        <material name="">
          <color rgba="1 1 1 1"/>
        </material>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
          <mesh filename="file://${mesh_path}/device/slide_w140/meshes/slider.STL" />
        </geometry>
      </collision>
    </link>
    <joint name="${station_name}${device_name}slider_joint" type="prismatic">
      <origin rpy="0 0 0" xyz="${min_d + slider_d/2} 0 0.0475"/>
      <parent link="${station_name}${device_name}base_link"/>
      <child link="${station_name}${device_name}slider"/>
      <axis xyz="1 0 0"/>
      <limit effort="100" lower="0" upper="${length}" velocity="1"/>
    </joint>
    <link name="${station_name}${device_name}length">
      <inertial>
        <origin rpy="0 0 0" xyz="0.005 -9.3044E-10 0.02803"/>
        <mass value="0.050532"/>
        <inertia ixx="8.098E-05" ixy="-1.2574E-19" ixz="3.1207E-20" iyy="4.4152E-06" iyz="-3.1294E-13" izz="7.7407E-05"/>
      </inertial>
      <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
          <mesh filename="file://${mesh_path}/device/slide_w140/meshes/length.STL" scale="${(length + min_d + max_d + slider_d)} 1 1"/>
        </geometry>
        <material name="">
          <color rgba="1 1 1 1"/>
        </material>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
          <mesh filename="file://${mesh_path}/device/slide_w140/meshes/length.STL" scale="${(length + min_d + max_d + slider_d)} 1 1"/>
        </geometry>
      </collision>
    </link>
    <joint name="${station_name}${device_name}length_joint" type="fixed">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <parent link="${station_name}${device_name}base_link"/>
      <child link="${station_name}${device_name}length"/>
    </joint>
    <link name="${station_name}${device_name}slide_end">
      <inertial>
        <origin rpy="0 0 0" xyz="0.003 8.6044E-06 0.035593"/>
        <mass value="0.055452"/>
        <inertia ixx="9.9729E-05" ixy="-1.0228E-21" ixz="3.8344E-22" iyy="2.3158E-05" iyz="1.5613E-08" izz="7.6904E-05"/>
      </inertial>
      <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
          <mesh filename="file://${mesh_path}/device/slide_w140/meshes/slide_end.STL"/>
        </geometry>
        <material name="">
          <color rgba="1 1 1 1"/>
        </material>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
          <mesh filename="file://${mesh_path}/device/slide_w140/meshes/slide_end.STL"/>
        </geometry>
      </collision>
    </link>
    <joint name="${station_name}${device_name}slide_end_joint" type="fixed">
      <origin rpy="0 0 0" xyz="${length + max_d +min_d + slider_d} 0 0"/>
      <parent link="${station_name}${device_name}base_link"/>
      <child link="${station_name}${device_name}slide_end"/>
    </joint>

  </xacro:macro>
</robot>