--- /dev/null
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+#*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
+
+# Joe
+DEADJOE
--- /dev/null
+cmake_minimum_required(VERSION 2.8.3)\r
+project(miitzhand)\r
+\r
+## Compile as C++11, supported in ROS Kinetic and newer\r
+# add_compile_options(-std=c++11)\r
+\r
+## Find catkin macros and libraries\r
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)\r
+## is used, also find other catkin packages\r
+find_package(catkin REQUIRED COMPONENTS\r
+ roscpp\r
+ rospy\r
+)\r
+find_package(catkin REQUIRED COMPONENTS\r
+ controller_interface\r
+ effort_controllers\r
+ urdf\r
+)\r
+find_package(cmake_modules REQUIRED)\r
+## System dependencies are found with CMake's conventions\r
+# find_package(Boost REQUIRED COMPONENTS system)\r
+\r
+\r
+## Uncomment this if the package has a setup.py. This macro ensures\r
+## modules and global scripts declared therein get installed\r
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html\r
+# catkin_python_setup()\r
+\r
+################################################\r
+## Declare ROS messages, services and actions ##\r
+################################################\r
+\r
+## To declare and build messages, services or actions from within this\r
+## package, follow these steps:\r
+## * Let MSG_DEP_SET be the set of packages whose message types you use in\r
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).\r
+## * In the file package.xml:\r
+## * add a build_depend tag for "message_generation"\r
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET\r
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in\r
+## but can be declared for certainty nonetheless:\r
+## * add a run_depend tag for "message_runtime"\r
+## * In this file (CMakeLists.txt):\r
+## * add "message_generation" and every package in MSG_DEP_SET to\r
+## find_package(catkin REQUIRED COMPONENTS ...)\r
+## * add "message_runtime" and every package in MSG_DEP_SET to\r
+## catkin_package(CATKIN_DEPENDS ...)\r
+## * uncomment the add_*_files sections below as needed\r
+## and list every .msg/.srv/.action file to be processed\r
+## * uncomment the generate_messages entry below\r
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)\r
+\r
+## Generate messages in the 'msg' folder\r
+# add_message_files(\r
+# FILES\r
+# Message1.msg\r
+# Message2.msg\r
+# )\r
+\r
+## Generate services in the 'srv' folder\r
+# add_service_files(\r
+# FILES\r
+# Service1.srv\r
+# Service2.srv\r
+# )\r
+\r
+## Generate actions in the 'action' folder\r
+# add_action_files(\r
+# FILES\r
+# Action1.action\r
+# Action2.action\r
+# )\r
+\r
+## Generate added messages and services with any dependencies listed here\r
+# generate_messages(\r
+# DEPENDENCIES\r
+# std_msgs # Or other packages containing msgs\r
+# )\r
+\r
+################################################\r
+## Declare ROS dynamic reconfigure parameters ##\r
+################################################\r
+\r
+## To declare and build dynamic reconfigure parameters within this\r
+## package, follow these steps:\r
+## * In the file package.xml:\r
+## * add a build_depend and a run_depend tag for "dynamic_reconfigure"\r
+## * In this file (CMakeLists.txt):\r
+## * add "dynamic_reconfigure" to\r
+## find_package(catkin REQUIRED COMPONENTS ...)\r
+## * uncomment the "generate_dynamic_reconfigure_options" section below\r
+## and list every .cfg file to be processed\r
+\r
+## Generate dynamic reconfigure parameters in the 'cfg' folder\r
+# generate_dynamic_reconfigure_options(\r
+# cfg/DynReconf1.cfg\r
+# cfg/DynReconf2.cfg\r
+# )\r
+\r
+###################################\r
+## catkin specific configuration ##\r
+###################################\r
+## The catkin_package macro generates cmake config files for your package\r
+## Declare things to be passed to dependent projects\r
+## INCLUDE_DIRS: uncomment this if you package contains header files\r
+## LIBRARIES: libraries you create in this project that dependent projects also need\r
+## CATKIN_DEPENDS: catkin_packages dependent projects also need\r
+## DEPENDS: system dependencies of this project that dependent projects also need\r
+catkin_package(\r
+ LIBRARIES ${PROJECT_NAME}\r
+ CATKIN_DEPENDS controller_interface control_msgs urdf\r
+# INCLUDE_DIRS include\r
+# LIBRARIES gabrielquanser_controllers\r
+# CATKIN_DEPENDS roscpp rospy\r
+# DEPENDS system_lib\r
+)\r
+\r
+###########\r
+## Build ##\r
+###########\r
+\r
+## Specify additional locations of header files\r
+## Your package locations should be listed before other locations\r
+include_directories(\r
+# include\r
+ ${catkin_INCLUDE_DIRS}\r
+)\r
+\r
+## Declare a C++ library\r
+# add_library(${PROJECT_NAME}\r
+# src/${PROJECT_NAME}/gabrielquanser_controllers.cpp\r
+# )\r
+\r
+## Add cmake target dependencies of the library\r
+## as an example, code may need to be generated before libraries\r
+## either from message generation or dynamic reconfigure\r
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})\r
+\r
+## Declare a C++ executable\r
+## With catkin_make all packages are built within a single CMake context\r
+## The recommended prefix ensures that target names across packages don't collide\r
+# add_executable(${PROJECT_NAME}_node src/gabrielquanser_controllers_node.cpp)\r
+\r
+## Rename C++ executable without prefix\r
+## The above recommended prefix causes long target names, the following renames the\r
+## target back to the shorter version for ease of user use\r
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"\r
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")\r
+\r
+## Add cmake target dependencies of the executable\r
+## same as for the library above\r
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})\r
+\r
+## Specify libraries to link a library or executable target against\r
+ #target_link_libraries(${PROJECT_NAME}_node\r
+ # ${catkin_LIBRARIES}\r
+ #)\r
+\r
+#############\r
+## Install ##\r
+#############\r
+\r
+# all install targets should use catkin DESTINATION variables\r
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html\r
+\r
+## Mark executable scripts (Python etc.) for installation\r
+## in contrast to setup.py, you can choose the destination\r
+# install(PROGRAMS\r
+# scripts/my_python_script\r
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\r
+# )\r
+\r
+## Mark executables and/or libraries for installation\r
+#install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node\r
+ # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\r
+ # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\r
+ # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\r
+ #)\r
+\r
+## Mark cpp header files for installation\r
+ #install(DIRECTORY include/${PROJECT_NAME}/\r
+ # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}\r
+# FILES_MATCHING PATTERN "*.h"\r
+# PATTERN ".svn" EXCLUDE\r
+ #)\r
+\r
+## Mark other files for installation (e.g. launch and bag files, etc.)\r
+# install(FILES\r
+# # myfile1\r
+# # myfile2\r
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\r
+# )\r
+\r
+#############\r
+## Testing ##\r
+#############\r
+\r
+## Add gtest based cpp test target and link libraries\r
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_gabrielquanser_controllers.cpp)\r
+# if(TARGET ${PROJECT_NAME}-test)\r
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})\r
+# endif()\r
+\r
+## Add folders to be run by python nosetests\r
+# catkin_add_nosetests(test)\r
--- /dev/null
+miitzhand: \r
+\r
+ joint_state_controller:\r
+ type: joint_state_controller/JointStateController\r
+ publish_rate: 100\r
+\r
+ Pol1_position_controller:\r
+ type: effort_controllers/JointPositionController\r
+ joint: Pol_J1 \r
+ pid: {p: 200, i: 50, d: 10}\r
+\r
+ Pol2_position_controller:\r
+ type: effort_controllers/JointPositionController\r
+ joint: Pol_J2\r
+ pid: {p: 0.7, i: 1, d: 0.01}\r
+\r
+ Pol3_position_controller:\r
+ type: effort_controllers/JointPositionController\r
+ joint: Pol_J3\r
+ pid: {p: 0.1, i: 0.001, d: 0.0008}\r
+\r
+ Ind1_position_controller:\r
+ type: effort_controllers/JointPositionController\r
+ joint: Ind_J1 \r
+ pid: {p: 0.8, i: 1, d: 0.013}\r
+\r
+ Ind2_position_controller:\r
+ type: effort_controllers/JointPositionController\r
+ joint: Ind_J2\r
+ pid: {p: 2, i: 0, d: 0}\r
+\r
+ Ind3_position_controller:\r
+ type: effort_controllers/JointPositionController\r
+ joint: Ind_J3\r
+ pid: {p: 1, i: 0, d: 0}\r
+\r
+ Med1_position_controller:\r
+ type: effort_controllers/JointPositionController\r
+ joint: Med_J1 \r
+ pid: {p: 2, i: 1, d: 0}\r
+\r
+ Med2_position_controller:\r
+ type: effort_controllers/JointPositionController\r
+ joint: Med_J2\r
+ pid: {p: 1, i: 1, d: 0}\r
+\r
+ Med3_position_controller:\r
+ type: effort_controllers/JointPositionController\r
+ joint: Med_J3\r
+ pid: {p: 1, i: 1, d: 0}\r
+\r
+ Ane1_position_controller:\r
+ type: effort_controllers/JointPositionController\r
+ joint: Ane_J1 \r
+ pid: {p: 2, i: 1, d: 0}\r
+\r
+ Ane2_position_controller:\r
+ type: effort_controllers/JointPositionController\r
+ joint: Ane_J2\r
+ pid: {p: 1, i: 1, d: 0}\r
+\r
+ Ane3_position_controller:\r
+ type: effort_controllers/JointPositionController\r
+ joint: Ane_J3\r
+ pid: {p: 1, i: 1, d: 0}\r
+ \r
+ Min1_position_controller:\r
+ type: effort_controllers/JointPositionController\r
+ joint: Min_J1 \r
+ pid: {p: 2, i: 1, d: 0}\r
+\r
+ Min2_position_controller:\r
+ type: effort_controllers/JointPositionController\r
+ joint: Min_J2\r
+ pid: {p: 1, i: 1, d: 0}\r
+\r
+ Min3_position_controller:\r
+ type: effort_controllers/JointPositionController\r
+ joint: Min_J3\r
+ pid: {p: 1, i: 1, d: 0}\r
--- /dev/null
+<launch>
+
+ <arg
+ name="debug"
+ default="false"
+ />
+ <arg
+ name="gui"
+ default="true"
+ />
+ <arg
+ name="headless"
+ default="false"
+ />
+ <arg
+ name="paused"
+ default="true"
+ />
+ <arg
+ name="use_sim_time"
+ default="true"
+ />
+ <include file="$(find gazebo_ros)/launch/empty_world.launch">
+
+ <arg
+ name="debug"
+ value="$(arg debug)"
+ />
+ <arg
+ name="gui"
+ value="$(arg gui)"
+ />
+ <arg
+ name="paused"
+ value="$(arg paused)"
+ />
+ <arg
+ name="use_sim_time"
+ value="$(arg use_sim_time)"
+ />
+ <arg
+ name="headless"
+ value="$(arg headless)"
+ />
+ <arg
+ name="world_name"
+ value="worlds/empty.world"
+ />
+
+ </include>
+
+ <!-- Robot model -->
+ <param name="robot_description" textfile="$(find miitzhand)/urdf/miitzhand.urdf" />
+
+ <!-- Spawn the robot model -->
+ <node name="miitzhand_spawner" pkg="gazebo_ros" type="spawn_model" output="screen"
+ args="-urdf -param robot_description -model miitzhand" />
+
+ <!-- Load controllers -->
+ <rosparam command="load" file="$(find miitzhand)/config/miitzhand_joints.yaml" />
+
+ <!-- Controllers -->
+ <node name="controller_spawner" pkg="controller_manager" type="spawner"
+ respawn="false" output="screen" ns="/miitzhand"
+ args="--namespace=/miitzhand
+ joint_state_controller
+ Pol1_position_controller
+ Pol2_position_controller
+ Pol3_position_controller
+ Ind1_position_controller
+ Ind2_position_controller
+ Ind3_position_controller
+ Med1_position_controller
+ Med2_position_controller
+ Med3_position_controller
+ Ane1_position_controller
+ Ane2_position_controller
+ Ane3_position_controller
+ Min1_position_controller
+ Min2_position_controller
+ Min3_position_controller
+ --timeout 60">
+ </node>
+
+ <!--<node
+ name="robot_state_publisher"
+ pkg="robot_state_publisher"
+ type="robot_state_publisher"
+ respawn="false"
+ output="screen"
+ >
+
+ <param
+ name="publish_frequency"
+ type="double"
+ value="100.0"
+ />
+ <remap
+ from="/joint_states"
+ to="/dedo/joint_states"
+ />
+
+ </node>-->
+
+ <!-- rqt -->
+ <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" />
+ <node name="rqt_publisher" pkg="rqt_publisher" type="rqt_publisher" />
+
+</launch>
--- /dev/null
+<?xml version="1.0"?>\r
+<package>\r
+ <name>miitzhand</name>\r
+ <version>0.0.0</version>\r
+ <description>The package</description>\r
+\r
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->\r
+ <!-- Example: -->\r
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->\r
+ <maintainer email="gabriel@todo.todo">gabriel</maintainer>\r
+\r
+\r
+ <!-- One license tag required, multiple allowed, one license per tag -->\r
+ <!-- Commonly used license strings: -->\r
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->\r
+ <license>MIT</license>\r
+\r
+ <!-- <test_depend>gtest</test_depend> -->\r
+ <buildtool_depend>catkin</buildtool_depend>\r
+\r
+ <build_depend>controller_interface</build_depend>\r
+ <build_depend>effort_controllers</build_depend>\r
+ <build_depend>roscpp</build_depend>\r
+ <build_depend>rospy</build_depend>\r
+ <build_depend>control_msgs</build_depend>\r
+ <build_depend>urdf</build_depend>\r
+ <build_depend>cmake_modules</build_depend>\r
+\r
+ <run_depend>cmake_modules</run_depend>\r
+ <run_depend>roscpp</run_depend>\r
+ <run_depend>rospy</run_depend>\r
+ <run_depend>urdf</run_depend>\r
+ <run_depend>control_msgs</run_depend>\r
+ <run_depend>controller_interface</run_depend>\r
+ <run_depend>controller_manager</run_depend>\r
+ <run_depend>effort_controllers</run_depend>\r
+ <run_depend>joint_state_controller</run_depend>\r
+ <run_depend>joint_position_controller</run_depend>\r
+\r
+\r
+ <!-- The export tag contains other, unspecified, tags -->\r
+ <export>\r
+ <!-- Other tools can request additional information be placed here -->\r
+\r
+ </export>\r
+</package>\r
--- /dev/null
+<robot\r
+ name="miitzhand">\r
+ <link\r
+ name="origin_link"/>\r
+ <link\r
+ name="base_link">\r
+ <inertial>\r
+ <origin\r
+ xyz="0.00038989 -0.11993 0.032281"\r
+ rpy="0 0 0" />\r
+ <mass\r
+ value="50.0706" />\r
+ <inertia\r
+ ixx="0.0047736"\r
+ ixy="4.2389E-06"\r
+ ixz="-3.3527E-05"\r
+ iyy="0.0049052"\r
+ iyz="-7.9528E-06"\r
+ izz="0.0054906" />\r
+ </inertial>\r
+ <visual>\r
+ <origin\r
+ xyz="0 0 0"\r
+ rpy="0 0 0" />\r
+ <geometry>\r
+ <mesh\r
+ filename="package://miitzhand/meshes/base_link.STL" />\r
+ </geometry>\r
+ <material\r
+ name="">\r
+ <color\r
+ rgba="0.79216 0.81961 0.93333 1" />\r
+ </material>\r
+ </visual>\r
+ <collision>\r
+ <origin\r
+ xyz="0 0 0"\r
+ rpy="0 0 0" />\r
+ <geometry>\r
+ <mesh\r
+ filename="package://miitzhand/meshes/base_link.STL" />\r
+ </geometry>\r
+ </collision>\r
+ </link>\r
+<joint name="origin_joint" type="fixed" static="true">\r
+ <parent link="origin_link"/>\r
+ <child link="base_link"/>\r
+ </joint>\r
+ <link\r
+ name="Min_L1">\r
+ <inertial>\r
+ <origin\r
+ xyz="-0.011921 -0.00021661 0.02162"\r
+ rpy="0 0 0" />\r
+ <mass\r
+ value="0.011049" />\r
+ <inertia\r
+ ixx="2.7163E-06"\r
+ ixy="-5.3643E-11"\r
+ ixz="1.6298E-11"\r
+ iyy="2.7469E-06"\r
+ iyz="-6.4519E-08"\r
+ izz="5.2852E-07" />\r
+ </inertial>\r
+ <visual>\r
+ <origin\r
+ xyz="0 0 0"\r
+ rpy="0 0 0" />\r
+ <geometry>\r
+ <mesh\r
+ filename="package://miitzhand/meshes/Min_L1.STL" />\r
+ </geometry>\r
+ <material\r
+ name="">\r
+ <color\r
+ rgba="0.79216 0.81961 0.93333 1" />\r
+ </material>\r
+ </visual>\r
+ <collision>\r
+ <origin\r
+ xyz="0 0 0"\r
+ rpy="0 0 0" />\r
+ <geometry>\r
+ <mesh\r
+ filename="package://miitzhand/meshes/Min_L1.STL" />\r
+ </geometry>\r
+ </collision>\r
+ </link>\r
+ <joint\r
+ name="Min_J1"\r
+ type="revolute">\r
+ <origin\r
+ xyz="0.028803 -0.12258 0.17082"\r
+ rpy="0.1079 -0.087213 3.1066" />\r
+ <parent\r
+ link="base_link" />\r
+ <child\r
+ link="Min_L1" />\r
+ <axis\r
+ xyz="-1 0 0" />\r
+ <limit\r
+ lower="-1.57"\r
+ upper="1.57"\r
+ effort="30"\r
+ velocity="2" />\r
+ </joint>\r
+ <link\r
+ name="Min_L2">\r
+ <inertial>\r
+ <origin\r
+ xyz="-0.011023 -0.00039673 0.010872"\r
+ rpy="0 0 0" />\r
+ <mass\r
+ value="0.0060006" />\r
+ <inertia\r
+ ixx="6.9826E-07"\r
+ ixy="-2.9991E-10"\r
+ ixz="-2.5271E-11"\r
+ iyy="7.1823E-07"\r
+ iyz="-2.898E-08"\r
+ izz="2.6724E-07" />\r
+ </inertial>\r
+ <visual>\r
+ <origin\r
+ xyz="0 0 0"\r
+ rpy="0 0 0" />\r
+ <geometry>\r
+ <mesh\r
+ filename="package://miitzhand/meshes/Min_L2.STL" />\r
+ </geometry>\r
+ <material\r
+ name="">\r
+ <color\r
+ rgba="0.79216 0.81961 0.93333 1" />\r
+ </material>\r
+ </visual>\r
+ <collision>\r
+ <origin\r
+ xyz="0 0 0"\r
+ rpy="0 0 0" />\r
+ <geometry>\r
+ <mesh\r
+ filename="package://miitzhand/meshes/Min_L2.STL" />\r
+ </geometry>\r
+ </collision>\r
+ </link>\r
+ <joint\r
+ name="Min_J2"\r
+ type="revolute">\r
+ <origin\r
+ xyz="-0.00089571 0 0.047"\r
+ rpy="0.0015828 1.1709E-17 7.2164E-16" />\r
+ <parent\r
+ link="Min_L1" />\r
+ <child\r
+ link="Min_L2" />\r
+ <axis\r
+ xyz="-1 0 0" />\r
+ <limit\r
+ lower="-1.57"\r
+ upper="1.57"\r
+ effort="30"\r
+ velocity="2" />\r
+ </joint>\r
+ <link\r
+ name="Min_L3">\r
+ <inertial>\r
+ <origin\r
+ xyz="-0.010381 -0.00045398 0.0099715"\r
+ rpy="0 0 0" />\r
+ <mass\r
+ value="0.0056943" />\r
+ <inertia\r
+ ixx="5.6108E-07"\r
+ ixy="7.2766E-11"\r
+ ixz="8.6273E-12"\r
+ iyy="5.2785E-07"\r
+ iyz="-2.8701E-08"\r
+ izz="1.9576E-07" />\r
+ </inertial>\r
+ <visual>\r
+ <origin\r
+ xyz="0 0 0"\r
+ rpy="0 0 0" />\r
+ <geometry>\r
+ <mesh\r
+ filename="package://miitzhand/meshes/Min_L3.STL" />\r
+ </geometry>\r
+ <material\r
+ name="">\r
+ <color\r
+ rgba="0.79216 0.81961 0.93333 1" />\r
+ </material>\r
+ </visual>\r
+ <collision>\r
+ <origin\r
+ xyz="0 0 0"\r
+ rpy="0 0 0" />\r
+ <geometry>\r
+ <mesh\r
+ filename="package://miitzhand/meshes/Min_L3.STL" />\r
+ </geometry>\r
+ </collision>\r
+ </link>\r
+ <joint\r
+ name="Min_J3"\r
+ type="revolute">\r
+ <origin\r
+ xyz="-0.00064509 0 0.0267"\r
+ rpy="-0.074153 -6.0828E-15 -5.4332E-15" />\r
+ <parent\r
+ link="Min_L2" />\r
+ <child\r
+ link="Min_L3" />\r
+ <axis\r
+ xyz="-1 0 0" />\r
+ <limit\r
+ lower="-1.57"\r
+ upper="1.57"\r
+ effort="30"\r
+ velocity="2" />\r
+ </joint>\r
+ <link\r
+ name="Ane_L1">\r
+ <inertial>\r
+ <origin\r
+ xyz="-0.011514 -0.00021662 0.02162"\r
+ rpy="0 0 0" />\r
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+ </actuator>\r
+ </transmission>\r
+\r
+<transmission name="Ind2_transmission">\r
+ <type>transmission_interface/SimpleTransmission</type>\r
+ <joint name="Ind_J2">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ </joint>\r
+ <actuator name="Ind2_motor">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ <mechanicalReduction>1</mechanicalReduction>\r
+ </actuator>\r
+ </transmission>\r
+\r
+<transmission name="Ind3_transmission">\r
+ <type>transmission_interface/SimpleTransmission</type>\r
+ <joint name="Ind_J3">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ </joint>\r
+ <actuator name="Ind3_motor">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ <mechanicalReduction>1</mechanicalReduction>\r
+ </actuator>\r
+ </transmission>\r
+\r
+<transmission name="Med1_transmission">\r
+ <type>transmission_interface/SimpleTransmission</type>\r
+ <joint name="Med_J1">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ </joint>\r
+ <actuator name="Med1_motor">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ <mechanicalReduction>1</mechanicalReduction>\r
+ </actuator>\r
+ </transmission>\r
+\r
+<transmission name="Med2_transmission">\r
+ <type>transmission_interface/SimpleTransmission</type>\r
+ <joint name="Med_J2">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ </joint>\r
+ <actuator name="Med2_motor">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ <mechanicalReduction>1</mechanicalReduction>\r
+ </actuator>\r
+ </transmission>\r
+\r
+<transmission name="Med3_transmission">\r
+ <type>transmission_interface/SimpleTransmission</type>\r
+ <joint name="Med_J3">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ </joint>\r
+ <actuator name="Med3_motor">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ <mechanicalReduction>1</mechanicalReduction>\r
+ </actuator>\r
+ </transmission>\r
+\r
+<transmission name="Ane1_transmission">\r
+ <type>transmission_interface/SimpleTransmission</type>\r
+ <joint name="Ane_J1">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ </joint>\r
+ <actuator name="Ane1_motor">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ <mechanicalReduction>1</mechanicalReduction>\r
+ </actuator>\r
+ </transmission>\r
+\r
+<transmission name="Ane2_transmission">\r
+ <type>transmission_interface/SimpleTransmission</type>\r
+ <joint name="Ane_J2">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ </joint>\r
+ <actuator name="Ane2_motor">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ <mechanicalReduction>1</mechanicalReduction>\r
+ </actuator>\r
+ </transmission>\r
+\r
+<transmission name="Ane3_transmission">\r
+ <type>transmission_interface/SimpleTransmission</type>\r
+ <joint name="Ane_J3">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ </joint>\r
+ <actuator name="Ane3_motor">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ <mechanicalReduction>1</mechanicalReduction>\r
+ </actuator>\r
+ </transmission>\r
+\r
+<transmission name="Min1_transmission">\r
+ <type>transmission_interface/SimpleTransmission</type>\r
+ <joint name="Min_J1">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ </joint>\r
+ <actuator name="Min1_motor">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ <mechanicalReduction>1</mechanicalReduction>\r
+ </actuator>\r
+ </transmission>\r
+\r
+<transmission name="Min2_transmission">\r
+ <type>transmission_interface/SimpleTransmission</type>\r
+ <joint name="Min_J2">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ </joint>\r
+ <actuator name="Min2_motor">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ <mechanicalReduction>1</mechanicalReduction>\r
+ </actuator>\r
+ </transmission>\r
+\r
+<transmission name="Min3_transmission">\r
+ <type>transmission_interface/SimpleTransmission</type>\r
+ <joint name="Min_J3">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ </joint>\r
+ <actuator name="Min3_motor">\r
+ <hardwareInterface>EffortJointInterface</hardwareInterface>\r
+ <mechanicalReduction>1</mechanicalReduction>\r
+ </actuator>\r
+ </transmission>\r
+\r
+<gazebo>\r
+ <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">\r
+ <robotNamespace>/miitzhand</robotNamespace>\r
+ <controlPeriod>0.001</controlPeriod>\r
+ <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>\r
+ </plugin>\r
+ </gazebo>\r
+</robot>\r
projects / users / gschmitz / miitzhand.git / commitdiff