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Viewing changes to sr_description/hand/xacro/full_hand_motor_ellipsoid.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/hand/xacro/full_hand_motor_ellipsoid.urdf.xacro
 
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<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
 
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       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
 
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       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
 
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       xmlns:xacro="http://www.ros.org/wiki/xacro">
 
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  <include filename="$(find sr_hand)/model/hand_urdf/forearm/forearm_motor.urdf.xacro" />
 
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  <include filename="$(find sr_hand)/model/hand_urdf/wrist/wrist.urdf.xacro" />
 
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  <include filename="$(find sr_hand)/model/hand_urdf/palm/palm.urdf.xacro" />
 
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  <include filename="$(find sr_hand)/model/hand_urdf/finger/classic_finger_ellipsoid.urdf.xacro" />
 
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  <include filename="$(find sr_hand)/model/hand_urdf/finger/little_finger_ellipsoid.urdf.xacro" />
 
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  <include filename="$(find sr_hand)/model/hand_urdf/thumb/thumb_ellipsoid.urdf.xacro" />
 
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  <xacro:macro name="shadowhand_motor">
 
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    <xacro:forearm_motor>
 
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    </xacro:forearm_motor>
 
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    <xacro:wrist parent="forearm_motor">
 
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      <origin xyz="0 -0.010 0.213" rpy="0 0 0" />
 
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    </xacro:wrist>
 
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    <xacro:palm parent="wrist">
 
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    </xacro:palm>
 
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    <xacro:finger link_prefix="ff" joint_prefix="FF" parent="palm">
 
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      <origin xyz="0.033 0 0.095" rpy="0 0 0" />
 
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      <axis xyz="0 -1 0" />
 
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    </xacro:finger>
 
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    <xacro:finger link_prefix="mf" joint_prefix="MF" parent="palm">
 
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      <origin xyz="0.011 0 0.099" rpy="0 0 0" />
 
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      <axis xyz="0 -1 0" />
 
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    </xacro:finger>
 
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    <xacro:finger link_prefix="rf" joint_prefix="RF" parent="palm">
 
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      <origin xyz="-0.011 0 0.095" rpy="0 0 0" />
 
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      <axis xyz="0 1 0" />
 
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    </xacro:finger>
 
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    <xacro:little_finger link_prefix="lf" joint_prefix="LF" parent="palm">
 
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    </xacro:little_finger>
 
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    <xacro:thumb parent="palm">
 
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    </xacro:thumb>
 
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  </xacro:macro>
 
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</robot>