← Back to branch summary

~shadowrobot/sr-ros-interface/trunk

« back to all changes in this revision

Viewing changes to sr_description/hand/xacro/finger/middle/middle.transmission.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

Show diffs side-by-side

added added

removed removed

Lines of Context:
sr_description/hand/xacro/finger/middle/middle.transmission.xacro
 
1
<?xml version="1.0"?>
 
2
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
 
3
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
 
4
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
 
5
       xmlns:xacro="http://ros.org/wiki/xacro">
 
6
 
 
7
  <xacro:macro name="middle_transmission">
 
8
 
 
9
    <transmission type="sr_mechanism_model/J0Transmission" name="${link_prefix}middle_transmission">
 
10
      <actuator name="${joint_prefix}J0" />
 
11
      <joint1 name="${joint_prefix}J1" />
 
12
      <joint2 name="${joint_prefix}J2" />
 
13
      <mechanicalReduction>1</mechanicalReduction>
 
14
      <motorTorqueConstant>1</motorTorqueConstant>
 
15
      <pulsesPerRevolution>90000</pulsesPerRevolution>
 
16
    </transmission>
 
17
 
 
18
  </xacro:macro>
 
19
 
 
20
</robot>
 
 
b'\\ No newline at end of file'