~shadowrobot/sr-ros-interface/trunk

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

 

  <include filename="$(find sr_hand)/model/arm_urdf/hand_support/shadowarm_handsupport_muscle.transmission.xacro" />

 

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

 

    <link name="shadowarm_handsupport_muscle">

      <inertial>

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

        <mass value="0.75" />

        <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 -0.04" rpy="${M_PI/2} 0 0"/>

        <geometry name="shadowarm_handsupport_visual">

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

        </geometry>

        <material name="LightGrey" />

      </visual>

      <collision>

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

        <geometry name="shadowarm_handsupport_collision">

          <cylinder radius="0.06" length="0.001"/>

        </geometry>

      </collision>

    </link>

    <gazebo reference="shadowarm_handsupport_muscle">

      <material>Gazebo/Grey</material>

      <selfCollide>true</selfCollide>

    </gazebo>

 

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

      <parent link="${parent}"/>

      <child link="shadowarm_handsupport_muscle"/>

      <origin xyz="0.08 0 0.131" rpy="0 0 0" />

      <axis xyz="0 0 -1" />

      <limit lower="-${M_PI/2}" upper="${M_PI/2}"

      effort="10" velocity="1.0"/>

      <dynamics damping="10.5"/>

    </joint>

 

    <xacro:shadowarm_handsupport_muscle_transmission />

 

  </xacro:macro>

 

</robot>