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Viewing changes to sr_description/arm/xacro/trunk/shadowarm_trunk.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/trunk/shadowarm_trunk.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/trunk/shadowarm_trunk.transmission.xacro" />
 
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  <xacro:macro name="shadowarm_trunk" params="parent">
 
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    <link name="shadowarm_trunk">
 
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        <inertial>
 
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          <origin xyz="0 0 0.26525" rpy="0 0 0" />
 
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          <mass value="10" />
 
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          <inertia  ixx="1.47" ixy="0.0"  ixz="0.0"  iyy="1.47"  iyz="0.0"  izz="2.4" />
 
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        </inertial>
 
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        <visual>
 
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          <origin xyz="0 0 0.005" rpy="0 0 0" />
 
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          <geometry name="shadowarm_trunk_visual">
 
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            <mesh filename="package://sr_description/arm/model/arm_trunk.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 0 0.26525" rpy="0 0 0"/>
 
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          <geometry name="shadowarm_trunk_collision">
 
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            <box size="0.03 0.03 0.52"/>
 
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          </geometry>
 
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        </collision>
 
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      </link>
 
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      <gazebo reference="shadowarm_trunk">
 
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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="ShoulderJRotate" type="revolute">
 
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      <parent link="${parent}"/>
 
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      <child link="shadowarm_trunk"/>
 
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      <origin xyz="0 0 0.01" rpy="0.0 0.0 0.0" />
 
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      <axis xyz="0 0 1" />
 
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      <limit lower="-${M_PI/4}" upper="${M_PI/2}"
 
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      effort="10" velocity="1.0"/>
 
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      <dynamics damping="200.5"/>
 
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    </joint>
 
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    <xacro:shadowarm_trunk_transmission />
 
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  </xacro:macro>
 
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</robot>