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hand.xacro: Rename ns to prefix #210

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hand.xacro: Rename ns to prefix #210

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f0a9300
Replace ns -> prefix
rhaschke Dec 7, 2021
6b3311b
Add deprecation warning and argument forwarding
rhaschke Dec 7, 2021
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4 changes: 2 additions & 2 deletions franka_description/robots/dual_panda_example.urdf.xacro
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Expand Up @@ -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 prefix="$(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 prefix="$(arg arm_id_2)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id_2)_link8" safety_distance="0.03" />

</robot>
2 changes: 1 addition & 1 deletion franka_description/robots/hand.urdf.xacro
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@@ -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 prefix="panda" safety_distance="0.03" />
</robot>
39 changes: 22 additions & 17 deletions franka_description/robots/hand.xacro
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@@ -1,15 +1,20 @@
<?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:='' prefix:='' ns:='' rpy:='0 0 0' xyz:='0 0 0' safety_distance:=0">
<xacro:if value="${ns != ''}">
${xacro.warning("xacro:hand: argument ns is deprecated. Use prefix instead.")}
<xacro:property name="prefix" value="${ns}"/>
</xacro:if>

<xacro:unless value="${connected_to == ''}">
<joint name="${ns}_hand_joint" type="fixed">
<joint name="${prefix}_hand_joint" type="fixed">
<parent link="${connected_to}"/>
<child link="${ns}_hand"/>
<child link="${prefix}_hand" />
<origin xyz="${xyz}" rpy="${rpy}"/>
</joint>
</xacro:unless>
<link name="${ns}_hand">
<link name="${prefix}_hand">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/hand.dae"/>
Expand Down Expand Up @@ -53,41 +58,41 @@
</collision>
</link>
<!-- Define the hand_tcp frame -->
<link name="${ns}_hand_tcp" />
<joint name="${ns}_hand_tcp_joint" type="fixed">
<link name="${prefix}_hand_tcp" />
<joint name="${prefix}_hand_tcp_joint" type="fixed">
<origin xyz="0 0 0.1034" rpy="0 0 0" />
<parent link="${ns}_hand" />
<child link="${ns}_hand_tcp" />
<parent link="${prefix}_hand" />
<child link="${prefix}_hand_tcp" />
</joint>
<link name="${ns}_leftfinger">
<link name="${prefix}_leftfinger">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
</link>
<link name="${ns}_rightfinger">
<link name="${prefix}_rightfinger">
<visual>
<origin xyz="0 0 0" rpy="0 0 ${pi}"/>
<geometry>
<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
</link>
<joint name="${ns}_finger_joint1" type="prismatic">
<parent link="${ns}_hand"/>
<child link="${ns}_leftfinger"/>
<joint name="${prefix}_finger_joint1" type="prismatic">
<parent link="${prefix}_hand" />
<child link="${prefix}_leftfinger" />
<origin xyz="0 0 0.0584" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
</joint>
<joint name="${ns}_finger_joint2" type="prismatic">
<parent link="${ns}_hand"/>
<child link="${ns}_rightfinger"/>
<joint name="${prefix}_finger_joint2" type="prismatic">
<parent link="${prefix}_hand" />
<child link="${prefix}_rightfinger" />
<origin xyz="0 0 0.0584" rpy="0 0 0"/>
<axis xyz="0 -1 0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
<mimic joint="${ns}_finger_joint1" />
<mimic joint="${prefix}_finger_joint1" />
</joint>
</xacro:macro>
</robot>
4 changes: 2 additions & 2 deletions franka_description/robots/panda_arm.urdf.xacro
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Expand Up @@ -15,7 +15,7 @@

<xacro:if value="$(arg hand)">
<xacro:include filename="$(find franka_description)/robots/hand.xacro"/>
<xacro:hand ns="$(arg arm_id)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id)_link8" safety_distance="0.03"/>
<xacro:hand prefix="$(arg arm_id)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id)_link8" safety_distance="0.03" />
</xacro:if>
</xacro:unless>

Expand All @@ -31,7 +31,7 @@
<xacro:panda_arm arm_id="$(arg arm_id)" />

<xacro:if value="$(arg hand)">
<xacro:hand ns="$(arg arm_id)" rpy="0 0 ${-pi/4}" connected_to="$(arg arm_id)_link8" />
<xacro:hand prefix="$(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>
Expand Down
33 changes: 19 additions & 14 deletions franka_description/robots/panda_gazebo.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -270,18 +270,23 @@

</xacro:macro>

<xacro:macro name="hand" params="connected_to:='' ns:='' xyz:='0 0 0' rpy:='0 0 0'">
<xacro:macro name="hand" params="connected_to:='' prefix:='' ns:='' xyz:='0 0 0' rpy:='0 0 0'">
<xacro:include filename="$(find franka_description)/robots/utils.xacro"/>

<xacro:if value="${ns != ''}">
${xacro.warning("xacro:hand: argument ns is deprecated. Use prefix instead.")}
<xacro:property name="prefix" value="${ns}" />
</xacro:if>

<xacro:unless value="${connected_to == ''}">
<joint name="${ns}_hand_joint" type="fixed">
<joint name="${prefix}_hand_joint" type="fixed">
<parent link="${connected_to}"/>
<child link="${ns}_hand"/>
<child link="${prefix}_hand" />
<origin xyz="${xyz}" rpy="${rpy}"/>
</joint>
</xacro:unless>

<link name="${ns}_hand">
<link name="${prefix}_hand">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/hand.dae"/>
Expand Down Expand Up @@ -332,7 +337,7 @@
</collision>
</xacro:macro>

<link name="${ns}_leftfinger">
<link name="${prefix}_leftfinger">
<xacro:inertia-cylinder mass="15e-3" radius="0.01" h="0.04"/>
<visual>
<geometry>
Expand All @@ -342,7 +347,7 @@
<xacro:finger-collision sign="+" />
</link>

<link name="${ns}_rightfinger">
<link name="${prefix}_rightfinger">
<xacro:inertia-cylinder mass="15e-3" radius="0.01" h="0.04"/>
<visual>
<origin xyz="0 0 0" rpy="0 0 ${pi}"/>
Expand All @@ -355,21 +360,21 @@

<!-- Friction specific material for Rubber/Rubber contact -->
<!-- See: -->
<xacro:gazebo-friction link="${ns}_leftfinger" mu="1.13" />
<xacro:gazebo-friction link="${ns}_rightfinger" mu="1.13" />
<xacro:gazebo-friction link="${prefix}_leftfinger" mu="1.13" />
<xacro:gazebo-friction link="${prefix}_rightfinger" mu="1.13" />

<joint name="${ns}_finger_joint1" type="prismatic">
<parent link="${ns}_hand"/>
<child link="${ns}_leftfinger"/>
<joint name="${prefix}_finger_joint1" type="prismatic">
<parent link="${prefix}_hand" />
<child link="${prefix}_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"/>
<dynamics friction="0.0" damping="0.03"/>
</joint>

<joint name="${ns}_finger_joint2" type="prismatic">
<parent link="${ns}_hand"/>
<child link="${ns}_rightfinger"/>
<joint name="${prefix}_finger_joint2" type="prismatic">
<parent link="${prefix}_hand" />
<child link="${prefix}_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"/>
Expand Down