ubi-agni/sr-ros-interface — pull request #1 by guihomework (2014-06-26 15:32:32+00:00)
Title: M sr description groovy to hydro

Merged all the sr_description changes (cleaner) URDF on top of latest hydro developments, F_ros_control, in order to use most recent controllers from ros_controllers
Included are : all the hand models + most recent ones (up to hydro developments), newer inertia (closer to real values, damping has to be very low to get no vibrations surprisingly), new tuning for arm and hand to work with new inertia, contact topics.
gtest and visual test are also provided to check the urdf validity and correspondence to the desired hand model.
It removes unnecessary files such as left meshes (using scale = -1 to mirror them), edc transmissions (motor and muscle selected via parameter)
Additionally this pull request also includes some tactile models for the ubi sensors.
Functionality of arm+hand+sensor checked in gazebo,
These cleaner sr_description have been in use for several month on sr_edc motor hand left and right.

Drawback : If the hand controllers are stopped, the fingers move with their own weight (no friction) a little bit faster than before to get to a stable position regarding gravity.
It cannot be fixed easily because static friction is not available in gazebo