pzn_plus.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

    <!--degrees to radians-->

    <xacro:macro name="pzn_plus" params="prefix_1 prefix_2 meshType">

        <!-- imports -->
        <xacro:include filename="$(find pzn_plus_description)/urdf/pzn_plus_base_link.urdf.xacro" />
        <xacro:include filename="$(find pzn_plus_description)/urdf/pzn_plus_fingers_link.urdf.xacro" />

        <!--xacro:include filename="$(find pzn_plus_description)/urdf/pzn_plus.gazebo.xacro" /-->
        <xacro:include filename="$(find pzn_plus_description)/urdf/pzn_plus.transmission.urdf.xacro" />

        <xacro:pzn_plus_base_link prefix="${prefix_1}_" meshType="${meshType}" />
        <xacro:pzn_plus_fingers_link prefix="${prefix_2}_" meshType="${meshType}" />
        <xacro:pzn_plus_transmission prefix="${prefix_2}_" />
        <!-- links -->
        <!--link name="world" /-->
<!--
        <joint name="fixed" type="fixed">
            <parent link="world" />
            <child link="${prefix}base_link" />
        </joint>
-->

        <joint name="${prefix_1}_finger_1" type="fixed">
          <origin xyz="-0.00147 0.0005 0.0050134"  rpy="0 0 0" />
          <parent link="${prefix_1}_trans_1" />
          <child  link="${prefix_2}_finger_1" />
          <axis    xyz="0 0 0" />
        </joint>

        <joint name="${prefix_1}_finger_2" type="fixed">
          <origin  xyz="-0.00147 0.0005 0.00501343290293372"  rpy="0 0 0" />
          <parent  link="${prefix_1}_trans_2" />
          <child  link="${prefix_2}_finger_2" />
          <axis  xyz="0 0 0" />
        </joint>

        <joint  name="${prefix_1}_finger_3"  type="fixed">
          <origin  xyz="-0.00147 0.0005 0.00501343290293372"  rpy="0 0 0" />
          <parent  link="${prefix_1}_trans_3" />
          <child  link="${prefix_2}_finger_3" />
          <axis  xyz="0 0 0" />
        </joint>

    </xacro:macro>
</robot>