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Viewing changes to sr_hand/model/arm_urdf/hand_support/shadowarm_handsupport_muscle.transmission.xacro

  • Committer: Ugo Cupcic
  • Date: 2012-07-23 12:23:16 UTC
  • Revision ID: ugo@shadowrobot.com-20120723122316-6i0bxukylymyg4xi
just moved all the models out of sr_hand into sr_description, not rewritten yet

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sr_hand/model/arm_urdf/hand_support/shadowarm_handsupport_muscle.transmission.xacro
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<?xml version="1.0"?>
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<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
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       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
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       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
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       xmlns:xacro="http://ros.org/wiki/xacro">
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  <xacro:macro name="shadowarm_handsupport_muscle_transmission">
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    <transmission type="sr_mechanism_model/SimpleTransmission" name="forearm_rotation_transmission">
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      <actuator name="forearm_rotation" />
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      <joint name="ElbowJRotate" />
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      <mechanicalReduction>1</mechanicalReduction>
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      <motorTorqueConstant>1</motorTorqueConstant>
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      <pulsesPerRevolution>90000</pulsesPerRevolution>
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    </transmission>
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  </xacro:macro>
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</robot>