pythongo1

<launch>

  <arg name="model" default="$(find urdf_tutorial)/urdf/01-myfirst.urdf"/>
  <arg name="gui" default="false" />
  <arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz" />

  <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
  <param name="use_gui" value="$(arg gui)"/>

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

pythongo1

<?xml version="1.0"?>
<robot name="man">

  <material name="blue">
    <color rgba="${68/255} ${108/255} ${179/255} 1"/>
  </material>


  <material name="yellow">
    <color rgba="${238/255} ${238/255} ${0/255} 1"/>

pythongo1

#!/usr/bin/env python
import rospy
from std_msgs.msg import Float64
from control_msgs.msg import JointControllerState
import math  # for sin
import os 

# for publish
finger5_0_publisher = 0
finger5_1_publisher = 0

pythongo1

#!/usr/bin/env python
import rospy
from std_msgs.msg import Float64
from control_msgs.msg import JointControllerState
import math  # for sin

finger5_0_process_value = 0
finger5_1_process_value = 0
finger4_0_process_value = 0
finger4_1_process_value = 0

pythongo1

#!/usr/bin/env python
import rospy
from std_msgs.msg import Float64
from control_msgs.msg import JointControllerState
import math  # for sin

process_value_data = 0

def callbackstate(subdata_state):
    #rospy.loginfo("process value is %f", subdata_state.process_value)

pythongo1

  <transmission name="finger5_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="finger5_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="hand_base_to_finger5">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>

pythongo1

#!/usr/bin/env python
import rospy
from std_msgs.msg import Float64
from control_msgs.msg import JointControllerState
import math  # for sin
import os 

# for publish
finger5_0_publisher = 0
finger5_1_publisher = 0

pythongo1

  <link name="finger5">
    <visual>
      <origin xyz="0 0.019427 0"/>
      <geometry>
        <!-- <box size="0.008 0.0355 0.008"/> -->
        <mesh filename="package://rrbot_description/meshes/finger5_shell.dae" scale="1 1 1"/>
      </geometry>
      <material name="black"/>
    </visual>

pythongo1

<?xml version="1.0"?>
<!-- Revolute-Revolute Manipulator -->
<robot name="rrbot" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <!-- Constants for robot dimensions -->
  <xacro:property name="PI" value="3.1415926535897931"/>


  <!-- Import all Gazebo-customization elements, including Gazebo colors -->
  <xacro:include filename="$(find rrbot_description)/urdf/rrbot.gazebo" />

pythongo1

  <!-- real hand base -->
  <!-- add collision --> <!-- test other collision -->
  <link name="hand_base">
    <visual>
      <!-- final origin xyz "0 0.052 0" is because the length of thetwo hand_base -->
      <!-- the number is to adjust the position of hand base 0.017738 -->
      <!-- old <origin xyz="0 0.061515 0.018191" rpy="0 0 0"/> -->
      <origin xyz="0 0.061515 0" rpy="0 0 0"/>
      <geometry>
      <!-- for big a bit --> <!-- <box size="0.05 0.1 0.01"/> -->