foot.xacro

<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda_foot_part">
  <xacro:macro name="foot" params="connected_to:='' ns:='' rpy:='0 0 0' xyz:='0 0 0' ">
    <xacro:unless value="${connected_to == ''}">
      <joint name="${ns}_foot_joint" type="fixed">
        <parent link="${connected_to}"/>
        <child link="${ns}_foot"/>
        <origin xyz="${xyz}" rpy="${rpy}"/>
      </joint>
    </xacro:unless>

    <xacro:arg name="gazebo" default="true"/>
    <xacro:if value="$(arg gazebo)">
      <gazebo reference="${ns}_foot"/>
    </xacro:if>

    <link name="${ns}_foot">
      <inertial>
        <mass value="0.1" />
        <origin xyz="0 0 0.01" rpy="0 0 0" />
        <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
      </inertial>
      <visual>
        <origin xyz="${xyz}" rpy="0 0 0"/>
        <geometry>
          <mesh filename="file://@MESHES_DESTINATION@/foot.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <material name="">
          <color rgba="1 1 1 1"/>
        </material>
      </visual>
      <collision>
        <origin xyz="${xyz}" rpy="0 0 0"/>
        <geometry>
          <mesh filename="file://@MESHES_DESTINATION@/foot.stl" scale="0.001 0.001 0.001"/>
        </geometry>
      </collision>
    </link>
  </xacro:macro>
</robot>