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Viewing changes to shadow_robot/sr_hand/model/robots/sr_arm_muscle.urdf

  • 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/robots/sr_arm_muscle.urdf
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  <link name="shadowarm_base">
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    <inertial>
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      <origin rpy="0 0 0" xyz="0 0 0"/>
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      <mass value="5000"/>
 
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      <mass value="0.4"/>
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      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
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    </inertial>
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    <visual>
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    <material>Gazebo/Grey</material>
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    <selfCollide>true</selfCollide>
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  </gazebo>
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  <joint name="trunk_rotation" type="revolute">
 
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  <joint name="ShoulderJRotate" type="revolute">
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    <parent link="shadowarm_base"/>
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    <child link="shadowarm_trunk"/>
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    <origin rpy="0 0 0" xyz="0 0 0.01"/>
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    <axis xyz="0 0 1"/>
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    <limit effort="10" lower="-1.57079632679" upper="0.785398163397" velocity="1.0"/>
 
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    <limit effort="10" lower="-0.785398163397" upper="1.57079632679" velocity="1.0"/>
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    <dynamics damping="200.5"/>
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  </joint>
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  <transmission name="trunk_rotation_transmission" type="pr2_mechanism_model/SimpleTransmission">
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    <actuator name="trunk_rotation"/>
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    <joint name="trunk_rotation"/>
 
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    <joint name="ShoulderJRotate"/>
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    <mechanicalReduction>1</mechanicalReduction>
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    <motorTorqueConstant>1</motorTorqueConstant>
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    <pulsesPerRevolution>90000</pulsesPerRevolution>
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  </transmission>
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  <link name="shadowarm_upperarm">
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    <inertial>
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      <origin rpy="0 0 0" xyz="0.1845 -0.067 0"/>
 
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      <origin rpy="0 0 0" xyz="0 -0.067 -0.1845"/>
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      <mass value="2"/>
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      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
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    </inertial>
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    <visual>
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      <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0.067 0"/>
 
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      <origin rpy="0 0 -1.57079632679" xyz="0 0.067 0"/>
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      <geometry name="shadowarm_upperarm_visual">
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        <mesh filename="package://sr_hand/model/meshes/arm/upper_arm.mesh" scale="0.001 0.001 0.001"/>
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      </geometry>
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      <material name="Grey"/>
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    </visual>
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    <collision>
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      <origin rpy="0 1.57079632679 0" xyz="0.1845 0 0"/>
 
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      <origin rpy="0 -3.14159265359 0" xyz="0 0 0.1845"/>
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      <geometry name="shadowarm_upperarm_collision">
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        <box size="0.03 0.03 0.369"/>
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      </geometry>
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    <material>Gazebo/Grey</material>
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    <selfCollide>true</selfCollide>
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  </gazebo>
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  <joint name="shoulder_rotation" type="revolute">
 
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  <joint name="ShoulderJSwing" type="revolute">
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    <parent link="shadowarm_trunk"/>
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    <child link="shadowarm_upperarm"/>
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    <origin rpy="0 0 0" xyz="0 -0.134 0.5405"/>
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    <axis xyz="0 1 0"/>
 
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    <origin rpy="0 -3.14159265359 0" xyz="0 -0.134 0.5405"/>
 
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    <axis xyz="0 -1 0"/>
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    <limit effort="10" lower="0" upper="1.57079632679" velocity="1.0"/>
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    <dynamics damping="50.5"/>
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  </joint>
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  <transmission name="shoulder_rotation_transmission" type="pr2_mechanism_model/SimpleTransmission">
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    <actuator name="shoulder_rotation"/>
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    <joint name="shoulder_rotation"/>
 
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    <joint name="ShoulderJSwing"/>
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    <mechanicalReduction>1</mechanicalReduction>
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    <motorTorqueConstant>1</motorTorqueConstant>
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    <pulsesPerRevolution>90000</pulsesPerRevolution>
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  </transmission>
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  <link name="shadowarm_lowerarm">
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    <inertial>
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      <origin rpy="0 0 0" xyz="0.0655 0 -0.08"/>
 
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      <origin rpy="0 0 0" xyz="0.08 0 0.0655"/>
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      <mass value="1.7"/>
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      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
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    </inertial>
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    <visual>
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      <origin rpy="3.14159265359 0.5 0" xyz="0.036 0 -0.03"/>
 
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      <origin rpy="3.14159265359 -1.07079632679 0" xyz="0.03 0 0.036"/>
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      <geometry name="shadowarm_lowerarm_visual">
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        <mesh filename="package://sr_hand/model/meshes/arm/elbow_flex.mesh" scale="0.001 0.001 0.001"/>
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      </geometry>
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      <material name="Grey"/>
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    </visual>
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    <collision>
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      <origin rpy="0 1.57079632679 0" xyz="0.0655 0 -0.08"/>
 
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      <origin rpy="0 0 0" xyz="0.08 0 0.0655"/>
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      <geometry name="shadowarm_lowerarm_collision">
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        <box size="0.03 0.03 0.131"/>
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      </geometry>
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    <material>Gazebo/Grey</material>
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    <selfCollide>true</selfCollide>
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  </gazebo>
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  <joint name="elbow_abduction" type="revolute">
 
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  <joint name="ElbowJSwing" type="revolute">
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    <parent link="shadowarm_upperarm"/>
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    <child link="shadowarm_lowerarm"/>
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    <origin rpy="0 0 0" xyz="0.369 0 0"/>
 
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    <origin rpy="0 0 0" xyz="0 0 0.369"/>
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    <axis xyz="0 -1 0"/>
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    <limit effort="10" lower="0" upper="2.09439510239" velocity="1.0"/>
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    <dynamics damping="50.5"/>
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  </joint>
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  <transmission name="elbow_abduction_transmission" type="pr2_mechanism_model/SimpleTransmission">
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    <actuator name="elbow_abduction"/>
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    <joint name="elbow_abduction"/>
 
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    <joint name="ElbowJSwing"/>
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    <mechanicalReduction>1</mechanicalReduction>
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    <motorTorqueConstant>1</motorTorqueConstant>
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    <pulsesPerRevolution>90000</pulsesPerRevolution>
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      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
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    </inertial>
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    <visual>
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      <origin rpy="0 0 -1.57079632679" xyz="-0.04 0 0"/>
 
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      <origin rpy="1.57079632679 0 0" xyz="0 0 -0.04"/>
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      <geometry name="shadowarm_handsupport_visual">
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        <mesh filename="package://sr_hand/model/meshes/arm/elbow_rotate_muscle.mesh" scale="0.001 0.001 0.001"/>
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      </geometry>
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      <material name="LightGrey"/>
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    </visual>
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    <collision>
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      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
 
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      <origin rpy="0 0 0" xyz="0 0 0"/>
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      <geometry name="shadowarm_handsupport_collision">
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        <cylinder length="0.001" radius="0.06"/>
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      </geometry>
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    <material>Gazebo/Grey</material>
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    <selfCollide>true</selfCollide>
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  </gazebo>
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  <joint name="forearm_rotation" type="revolute">
 
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  <joint name="ElbowJRotate" type="revolute">
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    <parent link="shadowarm_lowerarm"/>
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    <child link="shadowarm_handsupport_muscle"/>
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    <origin rpy="0 0 0" xyz="0.131 0 -0.08"/>
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    <axis xyz="1 0 0"/>
 
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    <origin rpy="0 0 0" xyz="0.08 0 0.131"/>
 
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    <axis xyz="0 0 -1"/>
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    <limit effort="10" lower="-1.57079632679" upper="1.57079632679" velocity="1.0"/>
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    <dynamics damping="10.5"/>
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  </joint>
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  <transmission name="forearm_rotation_transmission" type="pr2_mechanism_model/SimpleTransmission">
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    <actuator name="forearm_rotation"/>
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    <joint name="forearm_rotation"/>
 
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    <joint name="ElbowJRotate"/>
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    <mechanicalReduction>1</mechanicalReduction>
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    <motorTorqueConstant>1</motorTorqueConstant>
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    <pulsesPerRevolution>90000</pulsesPerRevolution>