~shadowrobot/sr-ros-interface/stable

<robot xmlns:xacro="http://ros.org/wiki/xacro"

        xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"

       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"

       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"

       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"

       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"

       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">

 

  <include filename="$(find sr_hand)/model/hand_urdf/thumb/thmiddle.transmission.xacro" />

 

  <xacro:macro name="thmiddle" params="parent">

 

    <link name="thmiddle">

      <inertial>

        <mass value="0.016" />

        <origin xyz="0 0 0" rpy="0 0 0"/>

        <inertia  ixx="1.0" ixy="0.0"  ixz="0.0"  iyy="0.0"  iyz="0.0"

        izz="0.0" />

      </inertial>

      <visual>

        <origin xyz="0 0 0" rpy="0 0 0" />

        <geometry name="thmiddle_visual">

        <mesh filename="package://sr_hand/model/meshes/TH2_z.mesh" scale="0.001 0.001 0.001" />

      </geometry>

      <material name="shadow_thmiddle_material">

          <color rgba="0.2 0.2 0.2 1.0"/>

        </material>

      </visual>

      <collision>

        <origin xyz="0 0 0.025" rpy="0 0 0 " />

        <geometry name="thmiddle_collision_geom">

          <box size="0.005 0.005 0.015" />

        </geometry>

      </collision>

    </link>

    <gazebo reference="thmiddle">

      <sensor:contact name="thmiddle_contact_sensor">

        <geom>thmiddle_geom</geom>

       <updateRate>100.0</updateRate>

        <controller:gazebo_ros_bumper name="thmiddle_gazebo_ros_bumper_controller" plugin="libgazebo_ros_bumper.so">

          <alwaysOn>true</alwaysOn>

          <updateRate>100.0</updateRate>

          <frameName>thmiddle</frameName>

          <bumperTopicName>thmiddle_bumper</bumperTopicName>

          <interface:bumper name="thmiddle_gazebo_ros_bumper_iface" />

        </controller:gazebo_ros_bumper>

      </sensor:contact>

      <material>Gazebo/Grey</material>

    </gazebo>

 

    <joint name="THJ2" type="revolute">

      <parent link="${parent}"/>

      <child link="thmiddle"/>

      <origin xyz="0 0 0" rpy="0 0 0" />

      <axis xyz="0 -1 0" />

      <limit lower="-0.5237" upper="0.5237" effort="10"

      velocity="1.0" />

      <dynamics damping="50.5"/>

    </joint>

 

    <xacro:thmiddle_transmission />

 

  </xacro:macro>

 

</robot>