Thesis-Hector-VR/Hector_v2/Assets/Telemax/hector_components_description/urdf/checkerboard.urdf.xacro

<?xml version="1.0"?>

<robot name="checkerboard" xmlns:xacro="http://www.ros.org/wiki/xacro">
  
  <xacro:property name="checkerbox_side_length" value="0.025" />
  <xacro:property name="dist_from_hand_joint" value="0.13" />
  
  <xacro:property name="scale" value="${checkerbox_side_length/0.08533}" />    
  <xacro:property name="z_translation" value="${(checkerbox_side_length/0.08533)/-2.6042}" />
  <xacro:property name="y_translation" value="${(checkerbox_side_length/0.08533)*0.993*0.5+dist_from_hand_joint}" />
  
  
  <!--    <xacro:property name="z_translation" value="${scale/2.6042}" />-->
  <!--    <xacro:property name="z_translation" value="${checkerbox_side_length}" />-->
  
  
  <xacro:macro name="checkerboard" params="parent name scaling *origin">
    
    <link name="${name}_checkerboard_link">
      <inertial>
	      <mass value="0.5" />
	      <origin xyz="0 0 0" rpy="0 -0 0" />
	      <inertia ixx="0.00265" ixy="0" ixz="0" iyy="0.00446" iyz="0" izz="0.00446" />
      </inertial>
      <visual>
	      <origin xyz="0 0 0" rpy="0 -0 0" />
	      <geometry>
	        <mesh filename="package://hector_components_description/meshes/checkerboard/checkerboard.dae" scale="${scaling} ${scaling} ${scaling}" />
	      </geometry>
      </visual>
      <collision>
	      <origin xyz="0 0 0" rpy="0 -0 0" />
	      <geometry>
	        <mesh filename="package://hector_components_description/meshes/checkerboard/checkerboard.dae" scale="${scaling} ${scaling} ${scaling}" />
	      </geometry>
       </collision>
    </link>
    
    <joint name="${name}_checkerboard_joint" type="fixed">
      <parent link="${parent}"/>
      <child link="${name}_checkerboard_link"/>
      <xacro:insert_block name="origin"/>
    </joint>
    
  </xacro:macro>
  
</robot>