FY2026 » FY26 Admin Task

<?xml version="1.0"?>
<robot name="uspref2" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:arg name="sensor_prefix" default="x_taxel_" />
  <xacro:arg name="base_prefix" default="x_base_" />

  <!-- uSPr eF2 model -->
  <xacro:macro name="usprds" params="sequence parent x:=0.0 y:=0.0 z:=0.0 rx:=0.0 ry:=0.0 rz:=0.0 col:='blue' body:=1 taxels:=1 skipinertia:=0 xoff=-0.0085 yoff=0.012 zoff=0.00595 rzoff=-0.00495 txstep=0.0048 tystep=0.0048 standalone:=0">
    <xacro:if value="${standalone == 1}">
      <xacro:include filename="$(find xela_models)/urdf/materials.xacro" />
      <xacro:include filename="$(find xela_models)/urdf/taxel_n.xacro" />
    </xacro:if>

   <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>

    <joint name="$(arg base_prefix)${sequence}_usprds_fixed" type="fixed">
      <origin xyz="${x} ${y} ${z}" rpy="${radians(rx)} ${radians(ry)} ${radians(rz)}"/>
      <parent link="${parent}" />
      <child link="$(arg base_prefix)${sequence}_usprds_link" />
    </joint>
    <link name="$(arg base_prefix)${sequence}_usprds_link">
      <collision>
        <origin xyz="0 0 0" rpy="1.57 1.57 0" />
        <geometry>
          <mesh filename="package://xela_models/mesh/uSPaDS.stl" scale="0.001 0.001 0.001"/>
        </geometry>
      </collision>
      <xacro:if value="${body == 1}">
        <visual>
          <origin xyz="0 0 0" rpy="1.57 0 0" />
          <geometry>
            <mesh filename="package://xela_models/mesh/uSPaDS.stl" scale="0.001 0.001 0.001"/>
          </geometry>
          <material name="${col}"/>
        </visual>
        <xacro:unless value="${skipinertia == 1}">
          <inertial>
            <origin xyz="0.000802 0.000964 0.000000" rpy="0 0 0"/>
            <mass value="0.021331"/>
            <inertia ixx="9.944032e-07" ixy="4.339981e-09" ixz="1.302310e-10" 
                    iyy="3.942455e-06" iyz="-3.681437e-10" izz="3.243939e-06"/>
          </inertial>
        </xacro:unless>
      </xacro:if>
    </link>

    <gazebo reference="$(arg base_prefix)${sequence}_usprds_link">
      <material>Gazebo/Red</material>
    </gazebo>

    <xacro:if value="${taxels == 1}">
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_01" x="${5*txstep+xoff}" y="${4*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_02" x="${5*txstep+xoff}" y="${3*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_03" x="${5*txstep+xoff}" y="${2*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_04" x="${5*txstep+xoff}" y="${1*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_05" x="${4*txstep+xoff}" y="${4*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_06" x="${4*txstep+xoff}" y="${3*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_07" x="${4*txstep+xoff}" y="${2*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_08" x="${4*txstep+xoff}" y="${1*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_09" x="${3*txstep+xoff}" y="${4*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_10" x="${3*txstep+xoff}" y="${3*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_11" x="${3*txstep+xoff}" y="${2*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_12" x="${3*txstep+xoff}" y="${1*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_13" x="${2*txstep+xoff}" y="${4*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_14" x="${2*txstep+xoff}" y="${3*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_15" x="${2*txstep+xoff}" y="${2*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_16" x="${2*txstep+xoff}" y="${1*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_17" x="${1*txstep+xoff}" y="${4*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_18" x="${1*txstep+xoff}" y="${3*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_19" x="${1*txstep+xoff}" y="${2*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_f_20" x="${1*txstep+xoff}" y="${1*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />

      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_r_01" x="${3*txstep+xoff+txstep*2}" y="${4*tystep-yoff}" z="${rzoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_r_02" x="${3*txstep+xoff+txstep*2}" y="${3*tystep-yoff}" z="${rzoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_r_03" x="${3*txstep+xoff+txstep*2}" y="${2*tystep-yoff}" z="${rzoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_r_04" x="${3*txstep+xoff+txstep*2}" y="${1*tystep-yoff}" z="${rzoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_r_05" x="${2*txstep+xoff+txstep*2}" y="${4*tystep-yoff}" z="${rzoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_r_06" x="${2*txstep+xoff+txstep*2}" y="${3*tystep-yoff}" z="${rzoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_r_07" x="${2*txstep+xoff+txstep*2}" y="${2*tystep-yoff}" z="${rzoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_r_08" x="${2*txstep+xoff+txstep*2}" y="${1*tystep-yoff}" z="${rzoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_r_09" x="${1*txstep+xoff+txstep*2}" y="${3*tystep-yoff}" z="${rzoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_usprds_r_10" x="${1*txstep+xoff+txstep*2}" y="${2*tystep-yoff}" z="${rzoff}" parent="$(arg base_prefix)${sequence}_usprds_link" />
    </xacro:if>
  </xacro:macro>

</robot>