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Viewing changes to shadow_robot/sr_hand/model/robots/xacro/arm_and_hand_motor.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/robots/xacro/arm_and_hand_motor.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/full_hand_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="base_fix" 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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  <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="${M_PI/2} 0 ${M_PI/2}" />
 
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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> 
 
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</robot>