self-collision insert own gripper size for self-collision check

[Atmaraaj]

Hello,

I have built my own magnetic gripper (size: 350x250x70) and I'd like to know if I can tell the robot the size/model of the gripper, maybe via a URDF file, so it can use it for the self-collision check.

FYI: it is also possible for me to use the click-smart-plate if that's necessary.

Can any one please help me ?

Best

Atma

 

PS:

This is the URDF file I'm using:

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="magnetplate_of_doom">
  <xacro:macro name="magnetplate_of_doom" params="side">
  <joint name="${side}_gripper_base" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/> <!-- Enter the 3D pose of your end effector frame here w.r.t. end of arm -->
    <parent link="${side}_hand"/>
    <child link="${side}_robotiq_gripper"/>
  </joint>
  <link name="${side}_robotiq_gripper">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> <!-- only modify this if there is an C.O.M. offset w.r.t your gripper_base joint above -->
      <mass value="4"/> <!-- Enter your mass and inertial properties here -->
      <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
     </inertial>
  </link>
  </xacro:macro>
  <xacro:magnetplate_of_doom side="right"/>
</robot>