~shadowrobot/sr-ros-interface/trunk

<robot xmlns:xacro="http://www.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/knuckle/knuckle.urdf.xacro" />

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

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

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

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

 

  <!-- Right Handed -->

  <xacro:macro name="little_finger" params="link_prefix joint_prefix parent">

    <xacro:lfmetacarpal parent="${parent}" />

    <xacro:little_finger_common link_prefix="${link_prefix}" joint_prefix="${joint_prefix}" parent="${parent}" />

  </xacro:macro>

 

  <!-- Left Handed -->

  <xacro:macro name="little_finger_left" params="link_prefix joint_prefix parent">

    <xacro:lfmetacarpal_left parent="${parent}" />

    <xacro:little_finger_common link_prefix="${link_prefix}" joint_prefix="${joint_prefix}" parent="${parent}" />

  </xacro:macro>

 

  <!-- Common bits for left handed and right handed little fingers. For use in

  macros above to generate little_finger and little_finger_left.

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

  <xacro:macro name="little_finger_common" params="link_prefix joint_prefix parent">

    <link name="lfknuckle">

      <inertial>

        <origin xyz="0 0 0.0" rpy="0 0 0" />

        <mass value="0.008" />

        <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="knuckle_visual">

          <mesh filename="package://sr_hand/model/meshes/knuckle.dae" scale="0.001 0.001 0.001" />

        </geometry>

        <material name="LightGrey" />

      </visual>

      <collision>

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

        <geometry name="knuckle_collision_geom">

          <box size="0.005 0.005 0.005" />

        </geometry>

      </collision>

    </link>

 

    <gazebo reference="lfknuckle">

      <sensor:contact name="lfknuckle_contact_sensor">

        <geom>lfknuckle_geom</geom>

        <updateRate>100.0</updateRate>

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

          <alwaysOn>true</alwaysOn>

          <updateRate>100.0</updateRate>

          <frameName>lfknuckle</frameName>

          <bumperTopicName>lfknuckle_bumper</bumperTopicName>

          <interface:bumper name="lfknuckle_gazebo_ros_bumper_iface" />

        </controller:gazebo_ros_bumper>

      </sensor:contact>

      <material>PR2/Grey2</material>

    </gazebo>

 

    <joint name="LFJ4" type="revolute">

      <parent link="lfmetacarpal" />

      <child link="lfknuckle" />

      <origin xyz="0 0 0.06579" rpy="0 0 0" />

      <axis xyz="0 1 0" />

      <limit lower="-0.43633231299858238" upper="0.43633231299858238" effort="10" velocity="1.0" />

      <dynamics damping="50.5" />

    </joint>

 

    <transmission type="sr_mechanism_model/SimpleTransmission" name="lfknuckle_transmission">

      <actuator name="LFJ4" />

      <joint name="LFJ4" />

      <mechanicalReduction>1</mechanicalReduction>

      <motorTorqueConstant>1</motorTorqueConstant>

      <pulsesPerRevolution>90000</pulsesPerRevolution>

    </transmission>

 

    <xacro:proximal link_prefix="${link_prefix}" joint_prefix="${joint_prefix}" parent="${link_prefix}knuckle">

    </xacro:proximal>

 

    <xacro:middle link_prefix="${link_prefix}" joint_prefix="${joint_prefix}" parent="${link_prefix}proximal">

    </xacro:middle>

 

    <xacro:distal link_prefix="${link_prefix}" joint_prefix="${joint_prefix}" parent="${link_prefix}middle">

    </xacro:distal>

  </xacro:macro>

 

</robot>