← Back to branch summary

~guihome/sr-ros-interface/compatibility_manipstack2

« back to all changes in this revision

Viewing changes to sr_hand/model/hand_urdf/thumb/thdistal_ellipsoid.urdf.xacro

  • Committer: Ugo Cupcic
  • Date: 2012-07-20 13:18:06 UTC
  • mfrom: (366.1.1 shadow_robot)
  • Revision ID: ugo@shadowrobot.com-20120720131806-t3cxkv09p7cpgdyy
Extracted and adapted modifications needed to shadow stack from the manip-electric version to be compatible with sr-manipulation electric and to run in real. Works without manipulation stack also, but requires some testing of all the launch files. New dae meshes are currently with wrong colors but are working.

Show diffs side-by-side

added added

removed removed

Lines of Context:
sr_hand/model/hand_urdf/thumb/thdistal_ellipsoid.urdf.xacro
13
13
    <link name="thdistal">
14
14
      <inertial>
15
15
        <mass value="0.016" />
16
 
        <origin xyz="-0.02263 0 0.02263" rpy="0 0 0"/>
 
16
        <origin xyz="0 0 0.01375" rpy="0 0 0"/>
17
17
        <inertia  ixx="0.1" ixy="0.0"  ixz="0.0"  iyy="0.1"  iyz="0.0"
18
 
        izz="0.1" />
 
18
                  izz="0.1" />
19
19
      </inertial>
20
20
      <visual>
21
 
        <origin xyz="0 0 0" rpy="0 0 0" />
 
21
        <origin xyz="0 0.002 0.0025" rpy="0 0 0" />
22
22
        <geometry name="thdistal_visual">
23
 
        <mesh filename="package://sr_hand/model/meshes/distal_ellipsoid.mesh" scale="0.001 0.001 0.001" />
24
 
      </geometry>
25
 
      <material name="shadow_thmiddle_material">
 
23
          <mesh filename="package://sr_hand/model/meshes/distal_ellipsoid.dae" scale="0.001 0.001 0.001" />
 
24
        </geometry>
 
25
        <material name="shadow_thmiddle_material">
26
26
          <color rgba="0.2 0.2 0.2 1.0"/>
27
27
        </material>
28
28
      </visual>
29
29
      <collision>
30
30
        <origin xyz="0 0.002 0.0025" rpy="0 0 0 " />
31
31
        <geometry name="thmiddle_collision_geom">
32
 
          <mesh filename="package://sr_hand/model/meshes/distal_ellipsoid.mesh" scale="0.001 0.001 0.001" />
 
32
          <mesh filename="package://sr_hand/model/meshes/distal_ellipsoid.dae" scale="0.001 0.001 0.001" />
33
33
        </geometry>
34
34
      </collision>
35
35
    </link>
36
36
    <gazebo reference="thdistal">
37
37
      <sensor:contact name="thdistal_contact_sensor">
38
38
        <geom>thdistal_geom</geom>
39
 
       <updateRate>100.0</updateRate>
 
39
        <updateRate>100.0</updateRate>
40
40
        <controller:gazebo_ros_bumper name="thdistal_gazebo_ros_bumper_controller" plugin="libgazebo_ros_bumper.so">
41
41
          <alwaysOn>true</alwaysOn>
42
42
          <updateRate>100.0</updateRate>
45
45
          <interface:bumper name="thdistal_gazebo_ros_bumper_iface" />
46
46
        </controller:gazebo_ros_bumper>
47
47
      </sensor:contact>
 
48
      <mu1 value="500.0" />
 
49
      <mu2 value="500.0" />
 
50
      <kp  value="10000000.0" />
 
51
      <kd  value="1.0" />
 
52
 
48
53
      <material>Gazebo/Grey</material>
49
54
      <selfCollide>false</selfCollide>
50
55
    </gazebo>
55
60
      <origin xyz="0 0 0.032" rpy="0 0 -1.570796327" />
56
61
      <axis xyz="1 0 0" />
57
62
      <limit lower="0" upper="1.571" effort="10"
58
 
      velocity="1.0" />
 
63
             velocity="1.0" />
59
64
      <dynamics damping="50.5"/>
60
65
    </joint>
61
66
 
 
67
    <link name="thtip">
 
68
      <inertial>
 
69
        <mass value="0.001" />
 
70
        <inertia  ixx="0.0" ixy="0.0"  ixz="0.0"  iyy="0.0"  iyz="0.0" izz="0.0" />
 
71
      </inertial>
 
72
    </link>
 
73
    <joint name="thtip" type="fixed">
 
74
      <parent link="thdistal"/>
 
75
      <child link="thtip"/>
 
76
      <origin xyz="0 0 0.0275" rpy="0 0 0" />
 
77
    </joint>
 
78
 
 
79
 
62
80
    <xacro:thdistal_transmission />
63
81
 
64
82
  </xacro:macro>