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src/end_effectors/epick_config/urdf/epick_overlay.xacro

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- Overlay that pins pose and serial port for epick -->
  <xacro:include filename="$(find epick_description)/urdf/epick_single_suction_cup.xacro"/>
  <!-- Arguments for parent link and optional prefix -->
  <!-- Dimension defaults are zeroed — callers must pass actual values from cup profile.
       Zero geometry makes it obvious if a caller forgets to pass dimensions. -->
  <xacro:macro name="epick_overlay" params="parent prefix:=''
                                 origin_xyz:='0 -0.03235 0'
                                 origin_rpy:='1.5708 0 0'
                                 suction_cup_height:=0.0
                                 suction_cup_radius:=0.0
                                 extension_length:=0.0
                                 extension_radius:=0.0
                                 use_mock_hardware:=false
                                 usb_port:=/tmp/ttyUR">
    <xacro:epick_single_suction_cup
      parent="${parent}"
      prefix="${prefix}"
      origin_xyz="${origin_xyz}"
      origin_rpy="${origin_rpy}"
      suction_cup_height="${suction_cup_height}"
      suction_cup_radius="${suction_cup_radius}"
      extension_length="${extension_length}"
      extension_radius="${extension_radius}"
      use_fake_hardware="${use_mock_hardware}"
      usb_port="${usb_port}"/>
  </xacro:macro>
</robot>