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shadow_robot/sr_hand/model/hand_urdf/full_hand_muscle.urdf.xacro

 

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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://www.ros.org/wiki/xacro">

 

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  <include filename="$(find sr_hand)/model/hand_urdf/forearm/forearm_muscle.urdf.xacro" />

 

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  <include filename="$(find sr_hand)/model/hand_urdf/wrist/wrist.urdf.xacro" />

 

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  <include filename="$(find sr_hand)/model/hand_urdf/palm/palm.urdf.xacro" />

 

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  <include filename="$(find sr_hand)/model/hand_urdf/finger/classic_finger.urdf.xacro" />

 

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  <include filename="$(find sr_hand)/model/hand_urdf/finger/little_finger.urdf.xacro" />

 

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

 

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  <xacro:macro name="shadowhand_muscle">

 

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    <xacro:forearm_muscle>

 

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    </xacro:forearm_muscle>

 

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    <xacro:wrist parent="forearm_muscle">

 

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      <origin xyz="0 0 0.396" rpy="0 0 0" />

 

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    </xacro:wrist>

 

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    <xacro:palm parent="wrist">

 

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    </xacro:palm>

 

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    <xacro:finger link_prefix="ff" joint_prefix="FF" parent="palm">

 

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      <origin xyz="0.033 0 0.095" rpy="0 0 0" />

 

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      <axis xyz="0 -1 0" />

 

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    </xacro:finger>

 

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    <xacro:finger link_prefix="mf" joint_prefix="MF" parent="palm">

 

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      <origin xyz="0.011 0 0.099" rpy="0 0 0" />

 

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      <axis xyz="0 -1 0" />

 

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    </xacro:finger>

 

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    <xacro:finger link_prefix="rf" joint_prefix="RF" parent="palm">

 

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      <origin xyz="-0.011 0 0.095" rpy="0 0 0" />

 

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      <axis xyz="0 1 0" />

 

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    </xacro:finger>

 

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    <xacro:little_finger link_prefix="lf" joint_prefix="LF" parent="palm">

 

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    </xacro:little_finger>

 

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    <xacro:thumb parent="palm">

 

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    </xacro:thumb>

 

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  </xacro:macro>

 

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</robot>

 

 

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