~shadowrobot/sr-ros-interface/trunk

<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/finger/lfmetacarpal/lfmetacarpal.transmission.xacro" />

 

  <!-- Right Handed -->

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

      <xacro:lfmetacarpal_base parent="${parent}" reflect="1" mesh="lfmetacarpal.dae" />

  </xacro:macro>

  

  <!-- Left Handed -->

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

      <xacro:lfmetacarpal_base parent="${parent}" reflect="-1" mesh="lfmetacarpal_left.mesh" />

  </xacro:macro>

 

  <!-- Macro to used to generate left and right handed versions.

  DO NOT use out side of here ie treat as a private macro -->

  <xacro:macro name="lfmetacarpal_base" params="parent reflect mesh">

 

    <link name="lfmetacarpal">

      <inertial>

        <origin xyz="0 0 0.04" rpy="0 0 0" />

            <mass value="0.075" />

            <inertia  ixx="0.1" ixy="0.0"  ixz="0.0"  iyy="0.1"  iyz="0.0" izz="0.1" />

      </inertial>

      <visual>

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

        <geometry name="lfmetacarpal_visual">

          <mesh filename="package://sr_hand/model/meshes/${mesh}" scale="0.001 0.001 0.001" />

        </geometry>

        <material name="Grey" />

      </visual>

      <collision>

          <origin xyz="0 0 0.04" rpy="0 0 0" />

        <geometry name="lfmetacarpal_collision_geom">

          <box size="0.008 0.008 0.03" />

        </geometry>

      </collision>

    </link>

    <gazebo reference="lfmetacarpal">

      <sensor:contact name="lfmetacarpal_contact_sensor">

        <geom>lfmetacarpal_geom</geom>

       <updateRate>100.0</updateRate>

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

          <alwaysOn>true</alwaysOn>

          <updateRate>100.0</updateRate>

          <frameName>lfmetacarpal</frameName>

          <bumperTopicName>lfmetacarpal_bumper</bumperTopicName>

          <interface:bumper name="lfmetacarpal_gazebo_ros_bumper_iface" />

        </controller:gazebo_ros_bumper>

      </sensor:contact>

      <material>Gazebo/Grey</material>

    </gazebo>

 

    <joint name="LFJ5" type="revolute">

      <parent link="${parent}"/>

      <child link="lfmetacarpal"/>

      <origin xyz="${reflect*-0.033} 0 0.02071" rpy="0 0 0" />

      <axis xyz="0.573576436 0 ${reflect*0.819152044}" />

      <limit lower="0" upper="0.69813170079773179" effort="10"

      velocity="1.0" />

      <dynamics damping="50.5"/>

    </joint>

 

    <xacro:lfmetacarpal_transmission />

 

  </xacro:macro>

  

</robot>