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Viewing changes to sr_description/hand/xacro/one_finger_unit_motor.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/one_finger_unit_motor.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/finger/classic_finger.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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    <link name="dummy_palm">
 
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      <inertial>
 
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        <mass value="0.010" />
 
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        <origin xyz="0 0 0" />
 
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        <inertia  ixx="1.0" ixy="0.0"  ixz="0.0"  iyy="0.0"  iyz="0.0"
 
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        izz="0.0" />
 
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      </inertial>
 
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      <visual>
 
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        <origin xyz="0 0 0.0505" rpy="0 0 0" />
 
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        <geometry name="dummy_palm_visual">
 
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          <box size="0.015 0.015 0.110" />
 
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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 0.0" rpy="0 0 0" />
 
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        <geometry name="dummy_palm_collision_geom">
 
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          <box size="0.015 0.015 0.110" />
 
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        </geometry>
 
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      </collision>
 
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    </link>
 
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    <joint name="forearm_to_dummy" type="fixed">
 
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      <parent link="forearm_motor"/>
 
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      <child link="dummy_palm"/>
 
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      <origin xyz="0.011 0.010 0.22" rpy="0 0 3.14"/>
 
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    </joint>
 
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    <!-- mfknuckle is at [0.011 -0.01 0.346] from the bottom of forearm_motor -->
 
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    <xacro:finger link_prefix="mf" joint_prefix="MF" parent="dummy_palm">
 
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      <origin xyz="0.0 0 0.116" rpy="0 0 0" />
 
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      <axis xyz="0 -1 0" />
 
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    </xacro:finger>
 
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  </xacro:macro>
 
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</robot>
 
 
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