roboticstoolbox-python 1.3.0__cp312-cp312-win_amd64.whl

roboticstoolbox/tools/xacro/tests/robots/pr2/forearm_v0/forearm.gazebo.xacro

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+<?xml version="1.0"?>
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="pr2_forearm_gazebo_v0" params="side">
+
+    <gazebo reference="${side}_forearm_link">
+      <turnGravityOff>true</turnGravityOff>
+    </gazebo>
+
+    <!-- Wrist flex -->
+
+    <gazebo reference="${side}_wrist_flex_link">
+      <turnGravityOff>true</turnGravityOff>
+    </gazebo>
+    <gazebo reference="${side}_wrist_flex_joint">
+      <stopKd value="1.0" />
+      <stopKp value="1000000.0" />
+    </gazebo>
+
+    <!-- Wrist roll -->
+
+    <gazebo reference="${side}_wrist_roll_link">
+      <turnGravityOff>true</turnGravityOff>
+      <material value="PR2/RollLinks" />
+    </gazebo>
+    <gazebo reference="${side}_wrist_roll_joint">
+      <fudgeFactor value="0.5" />
+    </gazebo>
+
+  </xacro:macro>
+
+</robot>
+                                               

roboticstoolbox/tools/xacro/tests/robots/pr2/forearm_v0/forearm.transmission.xacro

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+<?xml version="1.0"?>
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="pr2_forearm_transmission_v0" params="side">
+
+    <!-- Wrist flex , Wrist roll -->
+
+    <transmission type="pr2_mechanism_model/WristTransmission" name="${side}_wrist_trans">
+      <rightActuator name="${side}_wrist_r_motor" mechanicalReduction="${624/35*54/16}"/>
+      <leftActuator name="${side}_wrist_l_motor"  mechanicalReduction="${624/35*54/16}"/>
+      <flexJoint name="${side}_wrist_flex_joint"  mechanicalReduction="-1.0" />
+      <rollJoint name="${side}_wrist_roll_joint"  mechanicalReduction="1.0" />
+    </transmission>
+
+  </xacro:macro>
+</robot>
+

roboticstoolbox/tools/xacro/tests/robots/pr2/forearm_v0/forearm.urdf.xacro

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+<?xml version="1.0"?>
+
+<!-- XML namespaces -->
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- Things that are needed only for Gazebo (not the physical robot).  These include
+       sensor and controller plugin specifications -->
+  <xacro:include filename="forearm.gazebo.xacro" />
+  <xacro:include filename="forearm.transmission.xacro" />
+  <xacro:include filename="../common.xacro" />
+
+  <!-- ============================   Forearm   ============================ -->
+
+  <xacro:macro name="pr2_forearm_v0" params="side parent reflect *origin">
+
+    <joint name="${side}_forearm_joint" type="fixed">
+      <xacro:insert_block name="origin" /> <!-- transform from parent link to this joint frame -->
+      <parent link="${parent}"/>
+      <child link="${side}_forearm_link"/>
+    </joint>
+    <link name="${side}_forearm_link">
+
+      <inertial>
+        <mass value="2.57968" />
+        <origin xyz="0.18791 -0.00017 -0.00912" />
+        <inertia ixx="0.00364857222" ixy="0.00005215877" ixz="0.00071534842"
+                 iyy="0.01507736897" iyz="-0.00001310770"
+                 izz="0.01659310749" />
+      </inertial>
+
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://pr2_description/meshes/forearm_v0/forearm.dae" />
+       </geometry>
+
+        <material name="Grey" />
+      </visual>
+
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://pr2_description/meshes/forearm_v0/forearm.stl" />
+        </geometry>
+      </collision>
+    </link>
+
+    <!-- Wrist flex -->
+    <joint name="${side}_wrist_flex_joint" type="revolute">
+      <axis xyz="0 1 0" />
+      <limit upper="0.0" lower="-2.18" effort="10" velocity="${VELOCITY_LIMIT_SCALE*5.13}" /> <!-- alpha tested velocity and effort limits -->
+      <safety_controller k_position="20" k_velocity="4" soft_upper_limit="${0.0 - 0.10}" soft_lower_limit="${-2.18 + 0.18}" />
+      <dynamics damping="0.1" />
+      <calibration falling="${-0.5410521 + cal_r_wrist_flex_flag}" />
+      <origin xyz="0.321 0 0" rpy="0 0 0" />
+      <parent link="${side}_forearm_link"/>
+      <child link="${side}_wrist_flex_link"/>
+    </joint>
+    <link name="${side}_wrist_flex_link">
+
+      <inertial>
+        <mass value="0.61402" />
+        <origin xyz="-0.00157 0.0 -0.00075" />
+        <inertia ixx="0.00065165722" ixy="0.00000028864" ixz="0.00000303477"
+                 iyy="0.00019824443" iyz="-0.00000022645"
+                 izz="0.00064450498" />
+      </inertial>
+
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://pr2_description/meshes/forearm_v0/wrist_flex.dae" />
+        </geometry>
+
+        <material name="Grey" />
+      </visual>
+
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://pr2_description/meshes/forearm_v0/wrist_flex.stl" />
+        </geometry>
+      </collision>
+    </link>
+
+    <!-- Wrist roll -->
+    <joint name="${side}_wrist_roll_joint" type="continuous">
+      <axis xyz="1 0 0" />
+      <limit effort="10" velocity="${VELOCITY_LIMIT_SCALE*6}" /> <!-- alpha tested velocity and effort limits -->
+      <safety_controller k_velocity="2" />
+      <dynamics damping="0.1" />
+      <calibration rising="${-M_PI / 2 + cal_r_wrist_roll_flag}" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${side}_wrist_flex_link"/>
+      <child link="${side}_wrist_roll_link"/>
+    </joint>
+    <link name="${side}_wrist_roll_link">
+      <inertial>
+        <!-- dummy masses, to be removed.  wrist roll masses are on "gripper_palm" -->
+        <mass value="0.1" />
+        <origin xyz="0 0 0" />
+        <inertia ixx="0.01" ixy="0" ixz="0"
+                 iyy="0.01" iyz="0"
+                 izz="0.01" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://pr2_description/meshes/forearm_v0/wrist_roll.stl" />
+        </geometry>
+
+        <material name="RollLinks" />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://pr2_description/meshes/forearm_v0/wrist_roll_L.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- extensions-->
+    <xacro:pr2_forearm_gazebo_v0 side="${side}" />
+    <xacro:pr2_forearm_transmission_v0 side="${side}" />
+
+  </xacro:macro>
+
+</robot>

roboticstoolbox/tools/xacro/tests/robots/pr2/gazebo/gazebo.urdf.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <gazebo>
+    <plugin name="gazebo_ros_controller_manager" filename="libgazebo_ros_controller_manager.so">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>1000.0</updateRate>
+    </plugin>
+
+    <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>1.0</updateRate>
+      <timeout>5</timeout>
+      <powerStateTopic>power_state</powerStateTopic>
+      <powerStateRate>10.0</powerStateRate>
+      <fullChargeCapacity>87.78</fullChargeCapacity>     
+      <dischargeRate>-474</dischargeRate>
+      <chargeRate>525</chargeRate>
+      <dischargeVoltage>15.52</dischargeVoltage>
+      <chargeVoltage>16.41</chargeVoltage>
+    </plugin>
+  </gazebo>
+
+</robot>

roboticstoolbox/tools/xacro/tests/robots/pr2/gripper_v0/gripper.gazebo.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:property name="finger_stop_kd"             value="1.0" />
+  <xacro:property name="finger_stop_kp"             value="10000000.0" />
+  <xacro:property name="finger_fudge_factor"        value="1.0" />
+
+  <xacro:property name="finger_kp"                  value="0.0" />
+  <xacro:property name="finger_kd"                  value="0.0" />
+  <xacro:property name="finger_fm"                  value="0.0" />
+
+  <xacro:property name="finger_tip_kp"              value="0.0" />
+  <xacro:property name="finger_tip_kd"              value="0.0" />
+  <xacro:property name="finger_tip_fm"              value="0.0" />
+
+  <xacro:property name="finger_tip_mu"              value="500.0" />
+  <xacro:property name="finger_mu"                  value="500.0" />
+
+  <xacro:property name="parallel_link_x_offset"     value="-0.018" />
+  <xacro:property name="parallel_link_y_offset"     value="0.021" />
+
+  <xacro:macro name="pr2_finger_gazebo_v0" params="prefix reflect">
+
+    <!-- Finger proximal digit -->
+
+    <gazebo reference="${prefix}_l_finger_link">
+      <turnGravityOff>true</turnGravityOff>
+      <mu1 value="${finger_mu}" />
+      <mu2 value="${finger_mu}" />
+      <kp value="1000000.0" />
+      <kd value="1.0" />
+      <!-- for "${prefix}_l_finger_joint"-->
+    </gazebo>
+    <gazebo reference="${prefix}_l_finger_joint">
+      <stopKd value="${finger_stop_kd}" />
+      <stopKp value="${finger_stop_kp}" />
+      <fudgeFactor value="${finger_fudge_factor}" />
+      <provideFeedback value="true"/>
+    </gazebo>
+
+    <!-- Finger proximal digit -->
+
+    <gazebo reference="${prefix}_r_finger_link">
+      <turnGravityOff>true</turnGravityOff>
+      <mu1 value="${finger_mu}" />
+      <mu2 value="${finger_mu}" />
+      <kp value="1000000.0" />
+      <kd value="1.0" />
+    </gazebo>
+    <gazebo reference="${prefix}_r_finger_joint">
+      <stopKd value="${finger_stop_kd}" />
+      <stopKp value="${finger_stop_kp}" />
+      <fudgeFactor value="${finger_fudge_factor}" />
+      <provideFeedback value="true"/>
+    </gazebo>
+
+    <!-- Finger tip -->
+
+    <gazebo reference="${prefix}_l_finger_tip_link">
+      <turnGravityOff>true</turnGravityOff>
+      <selfCollide>false</selfCollide>
+      <sensor type="contact" name="${prefix}_l_finger_tip_contact_sensor">
+        <update_rate>100.0</update_rate>
+        <contact>
+          <collision>${prefix}_l_finger_tip_link_geom</collision>
+        </contact>
+        <plugin name="${prefix}_l_finger_tip_gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
+          <alwaysOn>true</alwaysOn>
+          <frameName>${prefix}_l_finger_tip_link</frameName>
+          <updateRate>100.0</updateRate>
+          <bumperTopicName>${prefix}_l_finger_tip_bumper</bumperTopicName>
+        </plugin>
+      </sensor>
+      <mu1 value="${finger_tip_mu}" />
+      <mu2 value="${finger_tip_mu}" />
+      <kp  value="10000000.0" />
+      <kd  value="1.0" />
+    </gazebo>
+    <gazebo reference="${prefix}_l_finger_tip_joint">
+      <stopKd value="${finger_stop_kd}" />
+      <stopKp value="${finger_stop_kp}" />
+      <fudgeFactor value="${finger_fudge_factor}" />
+      <provideFeedback value="true"/>
+    </gazebo>
+
+    <!-- Finger tip -->
+
+    <gazebo reference="${prefix}_r_finger_tip_link">
+      <turnGravityOff>true</turnGravityOff>
+      <selfCollide>false</selfCollide>
+      <sensor type="contact" name="${prefix}_r_finger_tip_contact_sensor">
+        <update_rate>100.0</update_rate>
+        <contact>
+          <collision>${prefix}_r_finger_tip_link_geom</collision>
+        </contact>
+        <plugin name="${prefix}_r_finger_tip_gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
+          <alwaysOn>true</alwaysOn>
+          <frameName>${prefix}_r_finger_tip_link</frameName>
+          <updateRate>100.0</updateRate>
+          <bumperTopicName>${prefix}_r_finger_tip_bumper</bumperTopicName>
+        </plugin>
+      </sensor>
+      <mu1 value="${finger_tip_mu}" />
+      <mu2 value="${finger_tip_mu}" />
+      <kp  value="10000000.0" />
+      <kd  value="1.0" />
+    </gazebo>
+    <gazebo>
+      <plugin name="p3d_${prefix}_l_finger_controller" filename="libgazebo_ros_p3d.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>100.0</updateRate>
+        <bodyName>${prefix}_l_finger_link</bodyName>
+        <topicName>${prefix}_l_finger_pose_ground_truth</topicName>
+        <gaussianNoise>0.0</gaussianNoise>
+        <frameName>base_link</frameName>
+      </plugin>
+      <plugin name="f3d_${prefix}_l_finger_controller" filename="libgazebo_ros_f3d.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>100.0</updateRate>
+        <bodyName>${prefix}_l_finger_link</bodyName>
+        <topicName>${prefix}_l_finger_force_ground_truth</topicName>
+      </plugin>
+    </gazebo>
+    <gazebo reference="${prefix}_r_finger_tip_joint">
+      <stopKd value="${finger_stop_kd}" />
+      <stopKp value="${finger_stop_kp}" />
+      <fudgeFactor value="${finger_fudge_factor}" />
+      <provideFeedback value="true"/>
+    </gazebo>
+
+    <!-- parallel link for simulating gripper constraints -->
+    <gazebo>
+      <link name="${prefix}_l_parallel_link">
+          <inertial>
+            <mass>0.17126</mass>
+            <inertia>
+              <ixx>7.7562e-05</ixx>
+              <ixy>1.49095e-06</ixy>
+              <ixz>-9.83385e-06</ixz>
+              <iyy>0.000197083</iyy>
+              <iyz>-3.06125e-06</iyz>
+              <izz>0.000181054</izz>
+            </inertia>
+            <pose>0.03598 0.0173 -0.00164 0 0 0</pose>
+          </inertial>
+          <pose>0.82991 ${0.188*reflect+0.031} 0.790675 0 -0 0</pose>
+          <gravity>false</gravity>
+      </link>
+      <link name="${prefix}_r_parallel_link">
+          <inertial>
+            <mass>0.17389</mass>
+            <inertia>
+              <ixx>7.73841e-05</ixx>
+              <ixy>-2.09309e-06</ixy>
+              <ixz>-8.36228e-06</ixz>
+              <iyy>0.000198474</iyy>
+              <iyz>2.4611e-06</iyz>
+              <izz>0.00018107</izz>
+            </inertia>
+            <pose>0.03576 -0.01736 -0.00095 0 0 0</pose>
+          </inertial>
+          <pose>0.82991 ${0.188*reflect-0.031} 0.790675 0 0 0</pose>
+          <gravity>false</gravity>
+      </link>
+    </gazebo>
+    <gazebo>
+      <joint type="screw" name="${prefix}_r_screw_screw_joint">
+          <child>${prefix}_motor_screw_link</child>
+          <parent>${prefix}_r_finger_tip_link</parent>
+          <thread_pitch>-3141.6</thread_pitch>
+          <axis>
+            <xyz>0 1 0</xyz>
+          </axis>
+      </joint>
+      <joint type="screw" name="${prefix}_l_screw_screw_joint">
+          <parent>${prefix}_l_finger_tip_link</parent>
+          <child>${prefix}_motor_screw_link</child>
+          <thread_pitch>3141.6</thread_pitch>
+          <axis>
+            <xyz>0 1 0</xyz>
+          </axis>
+      </joint>
+    </gazebo>
+
+
+    <gazebo>
+      <joint type="revolute" name="${prefix}_r_parallel_root_joint">
+          <parent>${prefix}_r_parallel_link</parent>
+          <child>${prefix}_palm_link</child>
+          <axis>
+            <xyz>0 0 -1</xyz>
+            <dynamics>
+              <damping>0.2</damping>
+            </dynamics>
+          </axis>
+          <pose>${0.07691+parallel_link_x_offset} ${-0.01-parallel_link_y_offset} 0 0 0 0</pose>
+      </joint>
+      <joint type="revolute" name="${prefix}_l_parallel_root_joint">
+          <parent>${prefix}_l_parallel_link</parent>
+          <child>${prefix}_palm_link</child>
+          <axis>
+            <xyz>0 0 1</xyz>
+            <dynamics>
+              <damping>0.2</damping>
+            </dynamics>
+          </axis>
+          <pose>${0.07691+parallel_link_x_offset} ${0.01+parallel_link_y_offset} 0 0 0 0</pose>
+      </joint>
+      <joint type="revolute" name="${prefix}_r_parallel_tip_joint">
+          <parent>${prefix}_r_parallel_link</parent>
+          <child>${prefix}_r_finger_tip_link</child>
+          <axis>
+            <xyz>0 0 1</xyz>
+          </axis>
+          <pose>${parallel_link_x_offset} ${-parallel_link_y_offset} 0 0 0 0</pose>
+      </joint>
+      <joint type="revolute" name="${prefix}_l_parallel_tip_joint">
+          <parent>${prefix}_l_parallel_link</parent>
+          <child>${prefix}_l_finger_tip_link</child>
+          <axis>
+            <xyz>0 0 1</xyz>
+          </axis>
+          <pose>${parallel_link_x_offset} ${parallel_link_y_offset} 0 0 0 0</pose>
+      </joint>
+      <joint type="prismatic" name="${prefix}_joint">
+          <parent>${prefix}_r_finger_tip_link</parent>
+          <child>${prefix}_l_finger_tip_link</child>
+          <axis>
+            <xyz>0 1 0</xyz>
+          </axis>
+      </joint>
+    </gazebo>
+    <gazebo reference="${prefix}_motor_slider_link">
+      <turnGravityOff>true</turnGravityOff>
+      <material value="PR2/Red" />
+    </gazebo>
+    <gazebo reference="${prefix}_motor_screw_link">
+      <turnGravityOff>true</turnGravityOff>
+      <material value="PR2/Red" />
+    </gazebo>
+    <gazebo reference="${prefix}_l_parallel_link">
+      <turnGravityOff>true</turnGravityOff>
+      <material value="PR2/Red" />
+    </gazebo>
+    <gazebo reference="${prefix}_r_parallel_link">
+      <turnGravityOff>true</turnGravityOff>
+      <material value="PR2/Red" />
+    </gazebo>
+
+  </xacro:macro>
+
+
+
+  <xacro:macro name="pr2_gripper_gazebo_v0" params="side">
+
+    <gazebo reference="${side}_gripper_palm_link">
+      <turnGravityOff>true</turnGravityOff>
+    </gazebo>
+
+    <gazebo>
+      <plugin name="p3d_${side}_gripper_palm_controller" filename="libgazebo_ros_p3d.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>100.0</updateRate>
+        <bodyName>${side}_gripper_palm_link</bodyName>
+        <topicName>${side}_gripper_palm_pose_ground_truth</topicName>
+        <xyzOffsets>0 0 0</xyzOffsets>
+        <rpyOffsets>0 0 0</rpyOffsets>
+        <gaussianNoise>0.0</gaussianNoise>
+        <frameName>map</frameName>
+      </plugin>
+
+      <!-- a formal implementation of grasp hack in gazebo with fixed joint -->
+      <gripper name="${side}_grasp_hack">
+        <grasp_check>
+          <attach_steps>20</attach_steps>
+          <detach_steps>40</detach_steps>
+          <min_contact_count>2</min_contact_count>
+        </grasp_check>
+        <gripper_link>${side}_gripper_r_finger_tip_link</gripper_link>
+        <gripper_link>${side}_gripper_l_finger_tip_link</gripper_link>
+        <palm_link>${side}_gripper_palm_link</palm_link>
+      </gripper>
+    </gazebo>
+
+  </xacro:macro>
+
+
+</robot>

roboticstoolbox/tools/xacro/tests/robots/pr2/gripper_v0/gripper.transmission.xacro

@@ -0,0 +1,50 @@
+<?xml version="1.0"?>
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="pr2_gripper_transmission_v0" params="side screw_reduction gear_ratio theta0 phi0 t0 L0 h a b r">
+    <!-- [lr]_gripper_joint is a fictitious joint, used by transmission for controller gap   -->
+    <!-- [lr]_gripper_joint is not attached to any link                                      -->
+    <!-- [lr]_gripper_joint position is the gap_size                                         -->
+    <!-- [lr]_gripper_joint velocity is the gap linear velocity                              -->
+    <!-- [lr]_gripper_joint effort   is the gap linear force                                 -->
+    <!-- Please refer to function engineering spreadsheet 090224_link_data.xls for           -->
+    <!-- the transmission function.                                                          -->
+    <!-- Please refer to mechanism_model/src/pr2_gripper_transmission.cpp for implementation.-->
+    <!-- gazebo_mimic_pid is for sim only.                                                   -->
+    <transmission type="pr2_mechanism_model/PR2GripperTransmission" name="${side}_gripper_trans" >
+      <actuator       name="${side}_gripper_motor" />
+      <gap_joint      name="${side}_gripper_joint"
+                      mechanical_reduction="1.0"
+                      screw_reduction="${screw_reduction}"
+                      gear_ratio="${gear_ratio}"
+                      theta0="${theta0}"
+                      phi0="${phi0}"
+                      t0="${t0}"
+                      L0="${L0}"
+                      h="${h}"
+                      a="${a}"
+                      b="${b}"
+                      r="${r}"
+                      />
+      <!-- if a gazebo joint exists as [l|r]_gripper_joint, use this tag to have
+           gripper transmission apply torque directly to prismatic joint
+           this should be the default behavior in diamondback, deprecating this flag -->
+      <use_simulated_gripper_joint/>
+      <!-- set passive joint angles so things look nice in rviz -->
+      <passive_joint  name="${side}_gripper_l_finger_joint"     />
+      <passive_joint  name="${side}_gripper_r_finger_joint"     />
+      <passive_joint  name="${side}_gripper_r_finger_tip_joint" />
+      <passive_joint  name="${side}_gripper_l_finger_tip_joint" />
+      <!-- screw joint to capture gripper "dynamics" -->
+      <simulated_actuated_joint name="${side}_gripper_motor_screw_joint"
+                                passive_actuated_joint="${side}_gripper_motor_slider_joint"
+                                simulated_reduction="3141.6"   />
+    </transmission>
+  </xacro:macro>
+
+
+</robot>