~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/thumb/thdistal.transmission.xacro" />

 

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

 

    <link name="thdistal">

      <inertial>

        <mass value="0.016" />

        <origin xyz="0 0 0.01375" rpy="0 0 0"/>

        <inertia  ixx="0.1" ixy="0.0"  ixz="0.0"  iyy="0.1"  iyz="0.0"

                  izz="0.1" />

      </inertial>

      <visual>

        <origin xyz="0 0.002 0.0025" rpy="0 0 0" />

        <geometry name="thdistal_visual">

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

        </geometry>

        <material name="shadow_thmiddle_material">

          <color rgba="0.2 0.2 0.2 1.0"/>

        </material>

      </visual>

      <collision>

        <origin xyz="0 0.002 0.0025" rpy="0 0 0 " />

        <geometry name="thmiddle_collision_geom">

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

        </geometry>

      </collision>

    </link>

    <gazebo reference="thdistal">

      <sensor:contact name="thdistal_contact_sensor">

        <geom>thdistal_geom</geom>

        <updateRate>100.0</updateRate>

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

          <alwaysOn>true</alwaysOn>

          <updateRate>100.0</updateRate>

          <frameName>thdistal</frameName>

          <bumperTopicName>thdistal_bumper</bumperTopicName>

          <interface:bumper name="thdistal_gazebo_ros_bumper_iface" />

        </controller:gazebo_ros_bumper>

      </sensor:contact>

      <mu1 value="500.0" />

      <mu2 value="500.0" />

      <kp  value="10000000.0" />

      <kd  value="1.0" />

 

      <material>Gazebo/Grey</material>

      <selfCollide>false</selfCollide>

    </gazebo>

 

    <joint name="THJ1" type="revolute">

      <parent link="${parent}"/>

      <child link="thdistal"/>

      <origin xyz="0 0 0.032" rpy="0 0 -1.570796327" />

      <axis xyz="1 0 0" />

      <limit lower="0" upper="1.571" effort="10"

             velocity="1.0" />

      <dynamics damping="50.5"/>

    </joint>

 

    <link name="thtip">

      <inertial>

        <mass value="0.001" />

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

      </inertial>

    </link>

    <joint name="thtip" type="fixed">

      <parent link="thdistal"/>

      <child link="thtip"/>

      <origin xyz="0 0 0.0275" rpy="0 0 0" />

    </joint>

 

 

    <xacro:thdistal_transmission />

 

  </xacro:macro>

 

</robot>