robotiq_hand_macro.urdf.xacro

<?xml version="1.0"?>
<!--
robotiq_hand_macro(prefix)

Creates an articulated s-model hand with the passed in prefix.  If there
is only one hand in the urdf then an empty prefix can be used "".  If
there are multiple hands then a prefix followed by an "_" is needed.
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="robotiq_hand">

  <xacro:macro name="robotiq_finger" params="prefix">
    <!-- Link list -->

    <!-- Link 0 -->
    <link name="${prefix}link_0">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_0.STL" />
        </geometry>
        <material name="green">
          <color rgba="0 1 0 1"/>
        </material>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
          <mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_0.STL" />
        </geometry>
        <material name="yellow">
          <color rgba="0 1 1 1"/>
        </material>
      </collision>
      <inertial>
        <mass value="0.1"/>
        <origin xyz="-0.01 0 0"/>
        <inertia ixx="0.000018" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
      </inertial>
    </link>

    <gazebo reference="${prefix}link_0">
      <mu1>1.1</mu1>
      <mu2>1.1</mu2>
    </gazebo>

    <!-- Link 1 -->
    <link name="${prefix}link_1">
      <visual>
        <origin rpy="0 0 ${3.1416/2}" xyz="0 0.05717 0"/>
        <geometry>
          <mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_1.STL" />
        </geometry>
        <material name="green"/>
      </visual>
      <collision>
        <origin rpy="0 0 ${3.1416/2}" xyz="0 0.05717 0"/>
        <geometry>
          <mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_1.STL"/>
        </geometry>
        <material name="yellow">
          <color rgba="0 1 1 1"/>
        </material>
      </collision>
      <inertial>
        <origin rpy="0 0 ${3.1416/2}" xyz="0.00053 0.03218 0"/>
        <mass value="0.047"/>
        <inertia ixx= "0.00000499332"
                 ixy= "0.00000091312"
                 ixz="-0.00000000120"
                 iyy= "0.00006434531"
                 iyz="-0.00000000007"
                 izz= "0.00006061917"/>
      </inertial>
    </link>

    <gazebo reference="${prefix}link_1">
      <mu1>1.1</mu1>
      <mu2>1.1</mu2>
    </gazebo>

    <!-- Link 2 -->
    <link name="${prefix}link_2">
      <visual>
        <origin rpy="0 0 ${3.1416/2}" xyz="0 0.03810 0.0075"/>
        <geometry>
          <mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_2.STL" />
        </geometry>
        <material name="green"/>
      </visual>
      <collision>
        <origin rpy="0 0 ${3.1416/2}" xyz="0 0.03810 0.0075"/>
          <geometry>
            <mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_2.STL"/>
          </geometry>
        <material name="yellow"/>
      </collision>
      <inertial>
        <origin rpy="0 0 ${3.1416/2}" xyz="0.00048 0.02167 0.00018"/>
        <mass value="0.03284"/>
        <inertia ixx="0.00000348008"
                 ixy="0.00000031940"
                 ixz="0.00000013041"
                 iyy="0.00002248123"
                 iyz="0.00000000291"
                 izz="0.00001986346"/>
      </inertial>
    </link>

    <gazebo reference="${prefix}link_2">
      <mu1>1.1</mu1>
      <mu2>1.1</mu2>
    </gazebo>

    <!-- Link 3 -->
    <link name="${prefix}link_3">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/link_3.STL" />
        </geometry>
        <material name="green"/>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/collision/link_3.STL"/>
        </geometry>
        <material name="yellow"/>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="0.01626 0.00049 0.0002"/>
        <mass value="0.03354"/>
        <inertia ixx="0.00000305151"
                 ixy="0.00000089792"
                 ixz="0.00000000249"
                 iyy="0.00001427978"
                 iyz="-0.00000001191"
                 izz="0.00001264126"/>
      </inertial>
    </link>

    <gazebo reference="${prefix}link_3">
      <mu1>1.1</mu1>
      <mu2>1.1</mu2>
    </gazebo>

    <!-- Link proximal actuating hinge -->
    <link name="${prefix}link_proximal_actuating_hinge">
      <visual>
        <origin rpy="0 0 0" xyz="0.01429 0 0"/>
        <geometry>
          <box size="0.02858 .0075 .002"/>
        </geometry>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="0.01429 0 0"/>
         <geometry>
          <box size="0.02858 .0075 .002"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="0.0012 -0.00162 -0.00161"/>
        <mass value="0.02647"/>
        <inertia ixx= "0.00000156447"
                 ixy= "0.000000236226"
                 ixz="-0.00000014862"
                 iyy= "0.00000221068"
                 iyz="-0.00000014369"
                 izz= "0.00000323175"/>
      </inertial>
    </link>

    <gazebo reference="${prefix}link_proximal_actuating_hinge">
      <mu1>1.1</mu1>
      <mu2>1.1</mu2>
    </gazebo>

    <!-- Link paraproximal actuating hinge -->
    <link name="${prefix}link_paraproximal_actuating_hinge">
      <visual>
        <origin rpy="0 0 0" xyz="0.01143 0 0"/>
        <geometry>
          <box size="0.02286 .0075 .002"/>
        </geometry>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="0.01143 0 0"/>
         <geometry>
          <box size="0.02286 .0075 .002"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="0.0064 0 0"/>
        <!-- copied from proximal_actuating_hinge -->
        <mass value="0.00362"/>
        <inertia ixx= "0.00000012043"
                 ixy= "0"
                 ixz= "0"
                 iyy= "0.00000053588"
                 iyz= "0"
                 izz= "0.00000065322"/>
      </inertial>
    </link>

    <gazebo reference="${prefix}link_paraproximal_actuating_hinge">
      <mu1>1.1</mu1>
      <mu2>1.1</mu2>
    </gazebo>

    <!-- Link proximal actuating bar -->
    <link name="${prefix}link_proximal_actuating_bar">
      <visual>
        <origin rpy="0 0 0" xyz="0.026789 0 0"/>
        <geometry>
          <box size="0.05398 .0075 .002"/>
        </geometry>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="0.026789 0 0"/>
         <geometry>
          <box size="0.05398 .0075 .002"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="0.02699 -0.00122 0"/>
        <mass value="0.00659"/>
        <inertia ixx= "0.00000008348"
                 ixy="-0.0000002179"
                 ixz= "0.00000000134"
                 iyy= "0.00000719076"
                 iyz= "0"
                 izz= "0.00000718272"/>
      </inertial>
    </link>

    <gazebo reference="${prefix}link_proximal_actuating_bar">
      <mu1>1.1</mu1>
      <mu2>1.1</mu2>
    </gazebo>

    <!-- Link paraproximal bar -->
    <link name="${prefix}link_paraproximal_bar">
      <visual>
        <origin rpy="0 0 0" xyz="0.02885 0 0"/>
        <geometry>
          <box size="0.05770 .0075 .002"/>
        </geometry>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="0.02885 0 0"/>
         <geometry>
          <box size="0.05770 .0075 .002"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="0.02858 -0.00129 0"/>
        <mass value="0.00732"/>
        <inertia ixx= "0.00000009065"
                 ixy="-0.00000027047"
                 ixz= "0.00000000142"
                 iyy= "0.00000878034"
                 iyz= "0"
                 izz= "0.00000877558"/>
      </inertial>
    </link>

    <gazebo reference="${prefix}link_paraproximal_bar">
      <mu1>1.1</mu1>
      <mu2>1.1</mu2>
    </gazebo>

    <!-- Link median actuating hinge -->
    <link name="${prefix}link_median_actuating_hinge">
      <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
          <box size=".02 .02 .002"/>
        </geometry>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
          <box size=".02 .02 .002"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="0.0092 0.00514 0"/>
        <mass value="0.00359"/>
        <inertia ixx= "0.00000024735"
                 ixy= "0.00000023619"
                 ixz= "0"
                 iyy= "0.00000047681"
                 iyz= "0"
                 izz= "0.00000071813"/>
      </inertial>
    </link>

    <gazebo reference="${prefix}link_median_actuating_hinge">
      <mu1>1.1</mu1>
      <mu2>1.1</mu2>
    </gazebo>

    <!-- Link median bar -->
    <link name="${prefix}link_median_bar">
      <visual>
        <origin rpy="0 0 0" xyz="0.01905 0 0"/>
        <geometry>
          <box size="0.0381 .0075 .002"/>
        </geometry>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="0.01905 0 0"/>
         <geometry>
          <box size="0.0381 .0075 .002"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
        <mass value="0.00538"/>
        <inertia ixx= "0.00000006639"
                 ixy="-0.00000010996"
                 ixz= "0.00000000094"
                 iyy= "0.00000305318"
                 iyz= "0"
                 izz= "0.00000304657"/>
      </inertial>
    </link>

    <gazebo reference="${prefix}link_median_bar">
      <mu1>1.1</mu1>
      <mu2>1.1</mu2>
    </gazebo>

    <!-- Link paramedian hinge -->
    <link name="${prefix}link_paramedian_hinge">
      <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
          <box size=".02 .02 .002"/>
        </geometry>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
          <box size=".02 .02 .002"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="-0.01025 0.00046 0"/>
        <mass value="0.00276"/>
        <inertia ixx= "0.00000004213"
                 ixy="-0.00000001491"
                 ixz= "0"
                 iyy= "0.00000050258"
                 iyz= "0"
                 izz= "0.00000054007"/>
      </inertial>
    </link>

    <gazebo reference="${prefix}link_paramedian_hinge">
      <mu1>1.1</mu1>
      <mu2>1.1</mu2>
    </gazebo>

    <!-- Link median bar underactuated -->
    <link name="${prefix}link_median_bar_underactuated">
      <visual>
        <origin rpy="0 0 0" xyz="0.01905 0 0"/>
        <geometry>
          <box size="0.0381 .0075 .002"/>
        </geometry>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="0.01905 0 0"/>
         <geometry>
          <box size="0.0381 .0075 .002"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="0.01905 -0.00107 0"/>
        <mass value="0.00538"/>
        <inertia ixx= "0.00000006639"
                 ixy="-0.00000010996"
                 ixz="-0.00000000094"
                 iyy= "0.00000305318"
                 iyz= "0"
                 izz= "0.00000304657"/>
      </inertial>
    </link>

    <gazebo reference="${prefix}link_median_bar_underactuated">
      <mu1>1.1</mu1>
      <mu2>1.1</mu2>
    </gazebo>

    <!-- Link paradistal hinge -->
    <link name="${prefix}link_paradistal_hinge">
      <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
          <box size=".02 .02 .002"/>
        </geometry>
      </visual>
      <collision>
        <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
          <box size=".02 0.02 .002"/>
        </geometry>
      </collision>
      <inertial>
        <origin rpy="0 0 0" xyz="0.00548 0 0"/>
        <mass value="0.00158"/>
        <inertia ixx= "0.00000001907"
                 ixy= "0"
                 ixz= "0"
                 iyy= "0.00000010970"
                 iyz= "0"
                 izz= "0.00000012610"/>
      </inertial>
    </link>

    <gazebo reference="${prefix}link_paradistal_hinge">
      <mu1>1.1</mu1>
      <mu2>1.1</mu2>
    </gazebo>
    <!-- End of link list -->

    <!-- Joint list -->

    <!-- Joint proximal actuating hinge -->
    <joint name="${prefix}joint_proximal_actuating_hinge" type="revolute">
      <parent link="${prefix}link_0"/>
      <child link="${prefix}link_proximal_actuating_hinge"/>
      <axis xyz="0 0 1"/>
      <origin rpy="0 0 -2.0906" xyz="0 0 0.01"/>
      <limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
    </joint>

    <gazebo reference="${prefix}joint_proximal_actuating_hinge">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <!-- Joint paraproximal actuating hinge -->
    <joint name="${prefix}joint_paraproximal_actuating_hinge" type="revolute">
      <parent link="${prefix}link_0"/>
      <child link="${prefix}link_paraproximal_actuating_hinge"/>
      <axis xyz="0 0 1"/>
      <origin rpy="0 0 -2.0906" xyz="0 0 -0.01"/>
      <limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
    </joint>

    <gazebo reference="${prefix}joint_paraproximal_actuating_hinge">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <!-- Joint proximal actuating bar -->
    <joint name="${prefix}joint_proximal_actuating_bar" type="revolute">
      <parent link="${prefix}link_proximal_actuating_hinge"/>
      <child link="${prefix}link_proximal_actuating_bar"/>
      <axis xyz="0 0 1"/>
      <origin rpy="0 0 1.8616" xyz="0.02858 0 0"/>
      <limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
    </joint>

    <gazebo reference="${prefix}joint_proximal_actuating_bar">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <!-- Joint paraproximal bar -->
    <joint name="${prefix}joint_paraproximal_bar" type="revolute">
      <parent link="${prefix}link_paraproximal_actuating_hinge"/>
      <child link="${prefix}link_paraproximal_bar"/>
      <axis xyz="0 0 1"/>
      <origin rpy="0 0 1.57" xyz="0.02286 0 0"/>
      <limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
    </joint>

    <gazebo reference="${prefix}joint_paraproximal_bar">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <!-- Joint median actuating hinge -->
    <joint name="${prefix}joint_median_actuating_hinge" type="revolute">
      <parent link="${prefix}link_1"/>
      <child link="${prefix}link_median_actuating_hinge"/>
      <axis xyz="0 0 1"/>
      <origin rpy="0 0 ${-0.37}" xyz="0 0.05715 0.01"/>
      <limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
    </joint>

    <gazebo reference="${prefix}joint_median_actuating_hinge">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <!-- Joint paramedian hinge -->
    <joint name="${prefix}joint_paramedian_hinge" type="revolute">
      <parent link="${prefix}link_1"/>
      <child link="${prefix}link_paramedian_hinge"/>
      <axis xyz="0 0 1"/>
      <!-- -0.37 is hand picked, 0.9719 is hand calculated from atan(0.02381/0.01625) -->
      <origin rpy="0 0 0" xyz="0 0.05715 -0.01"/>
      <limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
    </joint>

    <gazebo reference="${prefix}joint_paramedian_hinge">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <!-- Joint median actuating hinge median bar -->
    <joint name="${prefix}joint_median_actuating_hinge_median_bar" type="revolute">
      <parent link="${prefix}link_median_actuating_hinge"/>
      <child link="${prefix}link_median_bar"/>
      <axis xyz="0 0 1"/>
      <!-- hand calc 90 deg + atan(0.01516/0.01625) -->
      <origin rpy="0 0 ${3.1416/2 + 0.7507}" xyz="0.01625 0.01516 0"/>
      <limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
    </joint>

    <gazebo reference="${prefix}joint_median_actuating_hinge_median_bar">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <!-- Joint paradistal hinge -->
    <joint name="${prefix}joint_paradistal_hinge" type="revolute">
      <parent link="${prefix}link_2"/>
      <child link="${prefix}link_paradistal_hinge"/>
      <axis xyz="0 0 1"/>
      <origin rpy="0 0 0" xyz="0 0.039 -0.01"/>
      <limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
    </joint>

    <gazebo reference="${prefix}joint_paradistal_hinge">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <!-- Joint paramedian hinge median bar underactuated -->
    <joint name="${prefix}joint_paramedian_hinge_median_bar_underactuated" type="revolute">
      <parent link="${prefix}link_paramedian_hinge"/>
      <child link="${prefix}link_median_bar_underactuated"/>
      <axis xyz="0 0 1"/>
      <!-- hand calc 90 deg + atan(0.01227/0.00329) -->
      <origin rpy="0 0 ${3.1416/2}" xyz="0.01227 0.00329 0"/>
      <limit effort="100" lower="-3.1416" upper="3.1416" velocity="100"/>
    </joint>

    <gazebo reference="${prefix}joint_paramedian_hinge_median_bar_underactuated">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <!-- Joint 1 -->
    <joint name="${prefix}joint_1" type="revolute">
      <origin rpy="0 0 -2.0906" xyz="0 0 0"/>
      <axis xyz="0 0 1" />
      <parent link="${prefix}link_0"/>
      <child link="${prefix}link_1"/>
      <dynamics damping="1" friction="0" />
      <!-- Limits: [0deg.,70deg.] -->
      <limit effort="60" velocity="-1" lower="0" upper="1.2217" />
    </joint>

    <gazebo reference="${prefix}joint_1">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <!-- Joint 2 -->
    <joint name="${prefix}joint_2" type="revolute">
      <parent link="${prefix}link_1"/>
      <child link="${prefix}link_2"/>
      <dynamics damping="1" friction="0" />
      <axis xyz="0 0 1"/>
      <origin rpy="0 0 0" xyz="0 0.05715 0"/>
      <!-- Limits: [0deg.,90deg.] -->
      <limit lower="0" upper="1.5708" effort="60" velocity="-1"/>
    </joint>

    <gazebo reference="${prefix}joint_2">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <!-- Joint 3 -->
    <joint name="${prefix}joint_3" type="revolute">
      <parent link="${prefix}link_2"/>
      <child link="${prefix}link_3"/>
      <dynamics damping="1" friction="0" />
      <axis xyz="0 0 1"/>
      <origin rpy="0 0 ${3.1416/2 + 0.5198}" xyz="0 0.039 0"/>
      <!-- Limits: [-38deg.,60deg.] -->
      <limit lower="-0.6632" upper="1.0471" effort="60" velocity="-1"/>
    </joint>

    <gazebo reference="${prefix}joint_3">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>
    <!-- end of joint list -->

    <!-- coupling joints in sdf -->
    <gazebo>
      <joint name="${prefix}link_proximal_actuating_bar_median_actuating_hinge_couple" type="revolute">
        <parent>${prefix}link_median_actuating_hinge</parent>
        <child>${prefix}link_proximal_actuating_bar</child>
        <pose>0.05398 0 0 0 0 0</pose>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
          </dynamics>
          <xyz>0 0 1</xyz>
          <!-- <use_parent_model_frame>false</use_parent_model_frame> -->
        </axis>
      </joint>
    </gazebo>
    <gazebo reference="${prefix}link_proximal_actuating_bar_median_actuating_hinge_couple">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <gazebo>
      <joint name="${prefix}link_median_bar_link_3_couple" type="revolute">
        <parent>${prefix}link_3</parent>
        <child>${prefix}link_median_bar</child>
        <pose>0.0381 0 0 0 0 0</pose>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
          </dynamics>
          <xyz>0 0 1</xyz>
          <!-- <use_parent_model_frame>false</use_parent_model_frame> -->
        </axis>
      </joint>
    </gazebo>
    <gazebo reference="${prefix}link_median_bar_link_3_couple">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <gazebo>
      <joint name="${prefix}link_paramedian_bar_paradistal_hinge_couple" type="revolute">
        <parent>${prefix}link_paradistal_hinge</parent>
        <child>${prefix}link_median_bar_underactuated</child>
        <pose>0.0381 0 0 0 0 0</pose>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
          </dynamics>
          <xyz>0 0 1</xyz>
           <!-- <use_parent_model_frame>false</use_parent_model_frame> -->
        </axis>
      </joint>
    </gazebo>
    <gazebo reference="${prefix}link_median_bar_link_3_couple">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <gazebo>
      <joint name="${prefix}link_paradistal_hinge_link_3_couple" type="revolute">
        <parent>${prefix}link_paradistal_hinge</parent>
        <child>${prefix}link_3</child>
        <pose>0.0381 0 0 0 0 0</pose>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
          </dynamics>
          <xyz>0 0 1</xyz>
          <!-- <use_parent_model_frame>false</use_parent_model_frame> -->
        </axis>
      </joint>
    </gazebo>
    <gazebo reference="${prefix}link_paradistal_hinge_link_3_couple">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <gazebo>
      <joint name="${prefix}link_paraproximal_bar_paramedian_hinge_couple" type="revolute">
        <parent>${prefix}link_paramedian_hinge</parent>
        <child>${prefix}link_paraproximal_bar</child>
        <pose>0.05770 0 0 0 0 0</pose>
        <axis>
          <dynamics>
            <damping>0</damping>
            <friction>0</friction>
          </dynamics>
          <xyz>0 0 1</xyz>
          <!-- <use_parent_model_frame>false</use_parent_model_frame> -->
        </axis>
      </joint>
    </gazebo>
    <gazebo reference="${prefix}link_paraproximal_bar_paramedian_hinge_couple">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

  </xacro:macro>

  <xacro:macro name="robotiq_hand" params="prefix *origin reflect parent">

    <!-- joint attaching parent link to robotiq hand -->
    <joint name="${prefix}robotiq_hand_joint" type="fixed">
      <insert_block name="origin"/>
      <parent link="${parent}"/>
      <child link="${prefix}palm"/>
    </joint>

    <!-- Insert the fingers -->
    <xacro:robotiq_finger prefix="${prefix}finger_1_"/>
    <xacro:robotiq_finger prefix="${prefix}finger_2_"/>
    <xacro:robotiq_finger prefix="${prefix}finger_middle_"/>

      <!-- link list -->

      <!-- Link palm -->
      <link name="${prefix}palm">
        <visual>
          <geometry>
            <mesh filename="package://robotiq_s_model_visualization/meshes/s-model_articulated/visual/palm.STL" />
          </geometry>
          <material name="green">
            <color rgba="0 1 0 1"/>
          </material>
        </visual>
        <!-- Simple shape collision -->
        <collision>
          <origin rpy="0 0 0" xyz="0 0 0"/>
          <geometry>
            <box size="0.1 0.1 0.1"/>
          </geometry>
          <material name="yellow">
            <color rgba="0 1 1 1"/>
          </material>
        </collision>
        <inertial>
          <origin rpy="0 0 0" xyz="0 0 0"/>
          <mass value="1.3"/>
          <inertia ixx="0.0035" ixy="0" ixz="-0" iyy="0.0035" iyz="0" izz="0.0035"/>
        </inertial>
      </link>

      <gazebo reference="${prefix}palm">
        <mu1>1.1</mu1>
        <mu2>1.1</mu2>
      </gazebo>
    <!-- End of link list -->

    <!-- Joint list -->

    <!-- Joint palm_finger_1_joint -->
    <joint name="${prefix}palm_finger_1_joint" type="revolute">
      <parent link="${prefix}palm"/>
      <child link="${prefix}finger_1_link_0"/>
      <dynamics damping="1" friction="0" />
      <axis xyz="0 1 0"/>
      <origin rpy="0 3.1416 -1.57" xyz="-0.0455 0.0214 0.036"/>
      <!-- Limits: [-17deg.,17deg.] -->
      <limit lower="-0.2967" upper="0.2967" effort="60" velocity="-1"/>
    </joint>

    <gazebo reference="${prefix}palm_finger_1_joint">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <!-- Joint palm_finger_2_joint -->
    <joint name="${prefix}palm_finger_2_joint" type="revolute">
      <parent link="${prefix}palm"/>
      <child link="${prefix}finger_2_link_0"/>
      <dynamics damping="1" friction="0" />
      <axis xyz="0 1 0"/>
      <origin rpy="0 3.1416 -1.57" xyz="-0.0455 0.0214 -0.036"/>
      <!-- Limits: [-17deg.,17deg.] -->
      <limit lower="-0.2967" upper="0.2967" effort="60" velocity="-1"/>
    </joint>

    <gazebo reference="${prefix}palm_finger_2_joint">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>

    <!-- Joint palm_finger_middle_joint -->
    <joint name="${prefix}palm_finger_middle_joint" type="revolute">
      <parent link="${prefix}palm"/>
      <child link="${prefix}finger_middle_link_0"/>
      <dynamics damping="1" friction="0" />
      <axis xyz="0 1 0"/>
      <origin rpy="0 0 1.57" xyz="0.0455 0.0214 0"/>
      <limit lower="0" upper="0" effort="60" velocity="-1"/>
    </joint>

    <gazebo reference="${prefix}palm_finger_middle_joint">
      <implicitSpringDamper>1</implicitSpringDamper>
    </gazebo>
    <!-- end of joint list -->

  </xacro:macro>

</robot>