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Viewing changes to shadow_robot/sr_hand/model/hand_urdf/finger/middle/middle.urdf.xacro

  • Committer: Ugo Cupcic
  • Date: 2011-05-23 15:44:05 UTC
  • mfrom: (119.1.67 sr-ros-interface)
  • Revision ID: ugo@shadowrobot.com-20110523154405-kwvv543sy9wxehzi
Huge merge from trunk. Lots of changes.

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shadow_robot/sr_hand/model/hand_urdf/finger/middle/middle.urdf.xacro
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  <include filename="$(find sr_hand)/model/hand_urdf/finger/middle/middle.transmission.xacro" />
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  <xacro:macro name="middle" params="link_prefix joint_prefix parent">
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    <link name="${link_prefix}middle">
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      <inertial>
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        <origin xyz="0 0 0.045" rpy="0 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" rpy="0 -${M_PI/2} 0" />
 
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        <origin xyz="0 0 0" rpy="0 0 0" />
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        <geometry name="middle_visual">
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      <mesh filename="package://sr_hand/model/meshes/F2.mesh" scale="0.001 0.001 0.001" />
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      </geometry>
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      </collision>
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    </link>
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    <gazebo reference="${link_prefix}middle">
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      <sensor:contact name="${link_prefix}middle_contact_sensor">
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        <geom>${link_prefix}middle_geom</geom>
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       <updateRate>100.0</updateRate>
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          <interface:bumper name="${link_prefix}middle_gazebo_ros_bumper_iface" />
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        </controller:gazebo_ros_bumper>
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      </sensor:contact>
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      <material>Gazebo/Grey</material>
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    </gazebo>
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    <joint name="${joint_prefix}J2" type="revolute">
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      <parent link="${parent}"/>
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      <child link="${link_prefix}middle"/>
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    </joint>
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    <xacro:middle_transmission />
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  </xacro:macro>
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</robot>