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Viewing changes to shadow_robot/sr_hand/model/hand_urdf/thumb/thproximal.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/thumb/thproximal.urdf.xacro
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  <include filename="$(find sr_hand)/model/hand_urdf/thumb/thproximal.transmission.xacro" />
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  <xacro:macro name="thproximal" params="parent">
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    <link name="thproximal">
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      <inertial>
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        <mass value="0.016" />
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        <origin xyz="0 0 0" rpy="0 0 0"/> 
 
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        <origin xyz="0 0 0" rpy="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" rpy="0 0 0" />
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        <geometry name="thproximal_visual">
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      <mesh filename="package://sr_hand/model/meshes/TH3_z.mesh" scale="0.01 0.01 0.01" />
 
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      <mesh filename="package://sr_hand/model/meshes/TH3_z.mesh" scale="0.001 0.001 0.001" />
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      </geometry>
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      <material name="shadow_thproximal_material">
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          <color rgba="0.2 0.2 0.2 1.0"/>
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          <interface:bumper name="thproximal_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="THJ4" type="revolute">
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      <parent link="${parent}"/>
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      <child link="thproximal"/>
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    </joint>
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    <xacro:thproximal_transmission />
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  </xacro:macro>
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</robot>