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Viewing changes to sr_description/arm/xacro/lower_arm/shadowarm_lowerarm.urdf.xacro

  • Committer: Ugo Cupcic
  • Date: 2012-07-23 12:23:41 UTC
  • Revision ID: ugo@shadowrobot.com-20120723122341-vlkm85bisxyv2wsw
just moved all the models out of sr_hand into sr_description, not rewritten yet

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sr_description/arm/xacro/lower_arm/shadowarm_lowerarm.urdf.xacro
 
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
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  <include filename="$(find sr_description)/arm/xacro/lower_arm/shadowarm_lowerarm.transmission.xacro" />
 
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  <xacro:macro name="shadowarm_lowerarm" params="parent">
 
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    <link name="shadowarm_lowerarm">
 
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        <inertial>
 
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          <origin xyz="0.08 0 0.0625" rpy="0 0 0" />
 
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          <mass value="1.7" />
 
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          <inertia  ixx="1.0" ixy="0.0"  ixz="0.0"  iyy="0.0"  iyz="0.0"  izz="0.0" />
 
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        </inertial>
 
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        <visual>
 
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          <origin xyz="0.03 0 0.036" rpy="0 0 0"/>
 
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          <geometry name="shadowarm_lowerarm_visual">
 
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            <mesh filename="package://sr_description/arm/model/elbow_flex.dae" scale="0.001 0.001 0.001" />
 
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          </geometry>
 
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          <material name="Grey" />
 
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        </visual>
 
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        <collision>
 
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          <origin xyz="0.08 0 0.0625" rpy="0 0 0"/>
 
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          <geometry name="shadowarm_lowerarm_collision">
 
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            <box size="0.03 0.03 0.10"/>
 
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          </geometry>
 
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        </collision>
 
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    </link>
 
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    <gazebo reference="shadowarm_lowerarm">
 
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        <material>Gazebo/Grey</material>
 
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        <selfCollide>true</selfCollide>
 
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    </gazebo>
 
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    <joint name="ElbowJSwing" type="revolute">
 
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      <parent link="${parent}"/>
 
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      <child link="shadowarm_lowerarm"/>
 
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      <origin xyz="0 0 0.369" rpy="0 0 0" />
 
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      <axis xyz="0 -1 0" />
 
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      <limit lower="0.52" upper="2.09439510239"
 
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      effort="10" velocity="1.0"/>
 
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      <dynamics damping="50.5"/>
 
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    </joint>
 
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    <xacro:shadowarm_lowerarm_transmission />
 
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  </xacro:macro>
 
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</robot>