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Drop useless bumpers
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rhaschke committed Oct 3, 2021
1 parent 516c5d2 commit 0efd222
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Showing 3 changed files with 9 additions and 4 deletions.
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Expand Up @@ -3,6 +3,7 @@
<xacro:macro name="knuckle_gazebo" params="prefix:=^ link_prefix:=^">
<!-- prefix can be anything but usually is "r_" or "l_" for right and left hands distinction -->
<gazebo reference="${prefix}${link_prefix}knuckle">
<!-- knuckle is not highly exposed so bumper seems not useful
<sensor type="contact" name="${prefix}${link_prefix}knuckle_contact">
<always_on>1</always_on>
<update_rate>1000.0</update_rate>
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<updateRate>100.0</updateRate>
<bumperTopicName>contacts/${prefix}${link_prefix}/knuckle</bumperTopicName>
</plugin>
</sensor>
</sensor> -->
<material>Gazebo/Grey</material>
</gazebo>
</xacro:macro>
</robot>


3 changes: 2 additions & 1 deletion sr_description/hand/xacro/thumb/thbase.gazebo.xacro
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<xacro:macro name="thbase_gazebo" params="prefix:=^">
<!-- prefix can be anything but usually is "r_" or "l_" for right and left hands distinction -->
<gazebo reference="${prefix}thbase">
<!-- base is inside the proximal and not exposed so bumper seems useless
<sensor type="contact" name="${prefix}thbase_contact">
<always_on>1</always_on>
<update_rate>1000.0</update_rate>
Expand All @@ -16,7 +17,7 @@
<updateRate>100.0</updateRate>
<bumperTopicName>contacts/${prefix}th/base</bumperTopicName>
</plugin>
</sensor>
</sensor> -->
<selfCollide>false</selfCollide>
</gazebo>
</xacro:macro>
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5 changes: 3 additions & 2 deletions sr_description/hand/xacro/thumb/thhub.gazebo.xacro
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Expand Up @@ -3,6 +3,7 @@
<xacro:macro name="thhub_gazebo" params="prefix:=^">
<!-- prefix can be anything but usually is "r_" or "l_" for right and left hands distinction -->
<gazebo reference="${prefix}thhub">
<!-- hub is inside the proximal and not exposed so bumper seems useless
<sensor type="contact" name="${prefix}thhub_contact">
<always_on>1</always_on>
<update_rate>1000.0</update_rate>
Expand All @@ -16,8 +17,8 @@
<updateRate>100.0</updateRate>
<bumperTopicName>contacts/${prefix}th/hub</bumperTopicName>
</plugin>
</sensor>
<selfCollide>true</selfCollide>
</sensor> -->
<selfCollide>false</selfCollide>
</gazebo>
</xacro:macro>
</robot>

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