FY2026 » FY26 Admin Task

<?xml version="1.0"?>
<robot name="uSPrHE35" 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 HE35 model -->
  <xacro:macro name="uSPrHE35" 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=-0.019 yoff=0.0095 zoff=-0.0062 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}_uSPrHE35_fixed" type="fixed">
      <origin xyz="${x} ${y} ${z}" rpy="${radians(rx)} ${radians(ry)} ${radians(rz)}"/>
      <parent link="${parent}" />
      <child link="$(arg base_prefix)${sequence}_uSPrHE35_link" />
    </joint>
    <link name="$(arg base_prefix)${sequence}_uSPrHE35_link">
      <collision>
        <origin xyz="0 0 0" rpy="0 0 -1.57" />
        <geometry>
          <mesh filename="package://xela_models/mesh/uSPrHE35.stl" scale="0.001 0.001 0.001"/>
        </geometry>
      </collision>
      <xacro:if value="${body == 1}">
        <visual>
          <origin xyz="0 0 0" rpy="0 0 -1.57" />
          <geometry>
            <mesh filename="package://xela_models/mesh/uSPrHE35.stl" scale="0.001 0.001 0.001"/>
          </geometry>
          <material name="${col}"/>
        </visual>
        <xacro:unless value="${skipinertia == 1}">
          <inertial>
            <origin xyz="0.001258 -0.020107 -0.010350" rpy="0 0 0"/>
            <mass value="0.020553"/>
            <inertia ixx="5.819471e-06" ixy="5.367372e-07" ixz="-8.146625e-08" 
                    iyy="8.883230e-07" iyz="-3.681331e-08" izz="6.455063e-06"/>
          </inertial>
        </xacro:unless>
      </xacro:if>
    </link>

    <gazebo reference="$(arg base_prefix)${sequence}_uSPrHE35_link">
      <material>Gazebo/Red</material>
    </gazebo>

    <xacro:if value="${taxels == 1}">
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_01" x="${1*txstep+xoff}" y="${3*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_02" x="${2*txstep+xoff}" y="${3*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_03" x="${3*txstep+xoff}" y="${3*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_04" x="${4*txstep+xoff}" y="${3*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_05" x="${5*txstep+xoff}" y="${3*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_06" x="${1*txstep+xoff}" y="${2*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_07" x="${2*txstep+xoff}" y="${2*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_08" x="${3*txstep+xoff}" y="${2*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_09" x="${4*txstep+xoff}" y="${2*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_10" x="${5*txstep+xoff}" y="${2*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_11" x="${1*txstep+xoff}" y="${1*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_12" x="${2*txstep+xoff}" y="${1*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_13" x="${3*txstep+xoff}" y="${1*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_14" x="${4*txstep+xoff}" y="${1*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
      <xacro:taxel_n sequence="$(arg sensor_prefix)${sequence}_uSPa35_15" x="${5*txstep+xoff}" y="${1*tystep-yoff}" z="${zoff}" parent="$(arg base_prefix)${sequence}_uSPrHE35_link" />
    </xacro:if>
  </xacro:macro>

</robot>