dingo_gen3_lite_description.urdf.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:arg name="arm" default="$(optenv DINGO_ARM_MODEL gen3_lite)" />
  <xacro:arg name="dof" default="$(optenv DINGO_ARM_DOF 6)" />
  <xacro:arg name="vision" default="$(optenv DINGO_ARM_VISION true)" />

  <xacro:arg name="gripper" default="$(optenv DINGO_ARM_GRIPPER gen3_lite_2f)" />

  <xacro:arg name="sim" default="$(optenv DINGO_ARM_SIM false)" />
  <xacro:arg name="prefix" default="$(optenv DINGO_ARM_PREFIX arm)_" />

  <xacro:include filename="$(find kortex_description)/robots/kortex_robot.xacro" />
  <xacro:load_robot arm="$(arg arm)" gripper="$(arg gripper)" dof="$(arg dof)" vision="$(arg vision)" sim="$(arg sim)" prefix="$(arg prefix)" />

  <joint name="arm_mount_joint" type="fixed">
    <origin xyz="$(optenv DINGO_ARM_XYZ 0.0 0.0 0.0)" rpy="$(optenv DINGO_ARM_RPY 0 0 0)"/>
    <parent link="$(optenv DINGO_ARM_MOUNT front_b_mount)" />
    <child link="$(arg prefix)base_link" />
  </joint>

  <xacro:if value="$(optenv DINGO_ARM_EXTERNAL_POWER 0)">
    <link name="$(arg arm)_power">
      <visual>
        <geometry>
          <box size="0.185 0.1 0.04" />
        </geometry>
        <material name="white">
          <color rgba="1 1 1 1" />
        </material>
        <origin xyz="0 0 0.02" rpy="0 0 0" />
      </visual>
      <collision>
        <geometry>
          <box size="0.185 0.1 0.04" />
        </geometry>
        <origin xyz="0 0 0.02" rpy="0 0 0" />
      </collision>
    </link>
    <joint name="$(arg arm)_power_joint" type="fixed">
      <parent link="$(optenv DINGO_ARM_EXTERNAL_POWER_MOUNT rear_b_mount)"/>
      <child link="$(arg arm)_power" />
      <origin xyz="$(optenv DINGO_ARM_EXTERNAL_POWER_XYZ 0 0 0)" rpy="$(optenv DINGO_ARM_EXTERNAL_POWER_RPY 0 0 0)" />
    </joint>
  </xacro:if>
</robot>