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Viewing changes to sr_description/robots/arm_and_sr_one_finger_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/robots/arm_and_sr_one_finger_motor.urdf.xacro
 
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="arm_and_hand">
 
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  <include filename="$(find sr_hand)/model/materials.urdf.xacro" />
 
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  <include filename="$(find sr_hand)/model/arm_urdf/full_arm_motor.urdf.xacro" />
 
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  <include filename="$(find sr_hand)/model/hand_urdf/one_finger_unit_motor.urdf.xacro" />
 
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  <include filename="$(find sr_hand)/model/gazebo/gazebo.urdf.xacro" />
 
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  <include filename="$(find sr_hand)/model/desk/desk.urdf.xacro" />
 
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  <xacro:desk/>
 
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  <joint name="arm_to_desk_fixed" type="fixed">
 
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    <parent link="desk_pillar"/>
 
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    <child link="shadowarm_base"/>
 
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    <origin rpy="0 0 0" xyz="0 0 1.0"/>
 
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  </joint>
 
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  <joint name="base_fix" type="fixed">
 
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    <parent link="world"/>
 
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    <child link="desk_support"/>
 
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    <origin rpy="0 0 0" xyz="0 0 0"/>
 
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  </joint>
 
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  <xacro:sr_arm_motor>
 
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  </xacro:sr_arm_motor>
 
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  <joint name="arm_link" type="revolute">
 
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    <parent link="shadowarm_handsupport_motor"/>
 
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    <child link="forearm_motor"/>
 
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    <origin xyz="0 0 0" rpy="0 0 ${M_PI}" />
 
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    <axis xyz="0 -1 0" />
 
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    <limit lower="0" upper="0" effort="10"
 
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    velocity="1.0" />
 
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    <dynamics damping="3.5"/>
 
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  </joint>
 
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  <xacro:shadowhand_motor>
 
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  </xacro:shadowhand_motor>
 
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</robot>