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<robot xmlns:xacro="http://ros.org/wiki/xacro"
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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:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
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xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
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xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
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xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
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<include filename="$(find sr_hand)/model/hand_urdf/thumb/thhub.transmission.xacro" />
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<xacro:macro name="thhub" params="parent">
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<mass value="0.002" />
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0"
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry name="thhub_visual">
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<box size="0.001 0.001 0.001" />
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<material name="shadow_thhub_material">
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<color rgba="0.7 0.7 0.7 1.0"/>
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<origin xyz="0 0 0" rpy="0 0 0 " />
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<geometry name="thhub_collision_geom">
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<box size="0.001 0.001 0.001" />
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<gazebo reference="thhub">
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<sensor:contact name="thhub_contact_sensor">
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<geom>thhub_geom</geom>
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<updateRate>100.0</updateRate>
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<controller:gazebo_ros_bumper name="thhub_gazebo_ros_bumper_controller" plugin="libgazebo_ros_bumper.so">
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<alwaysOn>true</alwaysOn>
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<updateRate>100.0</updateRate>
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<frameName>thhub</frameName>
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<bumperTopicName>thhub_bumper</bumperTopicName>
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<interface:bumper name="thhub_gazebo_ros_bumper_iface" />
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</controller:gazebo_ros_bumper>
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<material>Gazebo/Grey</material>
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<joint name="THJ3" type="revolute">
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<parent link="${parent}"/>
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<origin xyz="0 0 0.038" rpy="0 0 0" />
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<limit lower="-0.2618" upper="0.2618" effort="10"
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<dynamics damping="50.5"/>
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<xacro:thhub_transmission />