mirror of
https://github.com/osrf/gazebo_models.git
synced 2025-09-15 12:58:56 +08:00
Merged from dev
This commit is contained in:
Nate Koenig
commit
8c511f1820
@ -47,6 +47,7 @@ set (dirs
|
||||
pioneer2dx
|
||||
powerplant
|
||||
pr2
|
||||
pr2_gripper
|
||||
saucepan
|
||||
simple_arm
|
||||
simple_arm_gripper
|
||||
|
||||
@ -20,6 +20,7 @@
|
||||
<uri>file://pioneer2dx</uri>
|
||||
<uri>file://powerplant</uri>
|
||||
<uri>file://pr2</uri>
|
||||
<uri>file://pr2_gripper</uri>
|
||||
<uri>file://saucepan</uri>
|
||||
<uri>file://simple_arm</uri>
|
||||
<uri>file://simple_arm_gripper</uri>
|
||||
|
||||
@ -550,7 +550,7 @@
|
||||
<fov>0.959931</fov>
|
||||
<near_clip>0.100000</near_clip>
|
||||
<far_clip>10.000000</far_clip>
|
||||
<pose>0.023200 0.110000 0.119100 3.141593 -1.570793 3.141593</pose>
|
||||
<pose>0.023200 0.110000 0.119100 0 -1.570793 0</pose>
|
||||
</projector>
|
||||
|
||||
<self_collide>0</self_collide>
|
||||
|
||||
23
pr2_gripper/manifest.xml
Normal file
23
pr2_gripper/manifest.xml
Normal file
@ -0,0 +1,23 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>PR2 Gripper</name>
|
||||
<version>1.0</version>
|
||||
<sdf>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>John Hsu</name>
|
||||
<email>hsu@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
The Willow Garage PR2 gripper model.
|
||||
</description>
|
||||
|
||||
<depend>
|
||||
<model>
|
||||
<uri>model://pr2</uri>
|
||||
<version>1.0</version>
|
||||
</model>
|
||||
</depend>
|
||||
</model>
|
||||
717
pr2_gripper/model.sdf
Normal file
717
pr2_gripper/model.sdf
Normal file
@ -0,0 +1,717 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version='1.2'>
|
||||
<model name='pr2_gripper'>
|
||||
<pose>-0.771000 0.188000 -0.790675 3.141593 -1.570796 3.141593</pose>
|
||||
<link name='r_wrist_roll_link'>
|
||||
<pose>0.771000 -0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
|
||||
<inertial>
|
||||
<pose>0.056408 0.000451 -0.001014 0.000000 -0.000000 0.000000</pose>
|
||||
<inertia>
|
||||
<ixx>0.011352</ixx>
|
||||
<ixy>-0.000016</ixy>
|
||||
<ixz>-0.000001</ixz>
|
||||
<iyy>0.011677</iyy>
|
||||
<iyz>-0.000001</iyz>
|
||||
<izz>0.011866</izz>
|
||||
</inertia>
|
||||
<mass>0.681070</mass>
|
||||
</inertial>
|
||||
<collision name='r_wrist_roll_link_geom'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://pr2/meshes/forearm_v0/wrist_roll_L.stl</uri>
|
||||
<scale>1.000000 1.000000 1.000000</scale>
|
||||
<uri>__default__</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>-1.000000</mu>
|
||||
<mu2>-1.000000</mu2>
|
||||
<fdir1>0.000000 0.000000 0.000000</fdir1>
|
||||
<slip1>0.000000</slip1>
|
||||
<slip2>0.000000</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<bounce>
|
||||
<restitution_coefficient>0.000000</restitution_coefficient>
|
||||
<threshold>100000.000000</threshold>
|
||||
</bounce>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0.000000</soft_cfm>
|
||||
<soft_erp>0.200000</soft_erp>
|
||||
<kp>1000000000000.000000</kp>
|
||||
<kd>1.000000</kd>
|
||||
<max_vel>0.000000</max_vel>
|
||||
<min_depth>0.001000</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
<laser_retro>0.000000</laser_retro>
|
||||
</collision>
|
||||
<visual name='r_wrist_roll_link_geom_visual'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://pr2/meshes/forearm_v0/wrist_roll.stl</uri>
|
||||
<scale>1.000000 1.000000 1.000000</scale>
|
||||
<uri>__default__</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<name>__default__</name>
|
||||
</script>
|
||||
</material>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
<laser_retro>0.000000</laser_retro>
|
||||
<transparency>0.000000</transparency>
|
||||
</visual>
|
||||
<visual name='r_wrist_roll_link_geom_r_gripper_palm_link_visual'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://pr2/meshes/gripper_v0/gripper_palm.dae</uri>
|
||||
<scale>1.000000 1.000000 1.000000</scale>
|
||||
<uri>__default__</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
<laser_retro>0.000000</laser_retro>
|
||||
<transparency>0.000000</transparency>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<self_collide>0</self_collide>
|
||||
<kinematic>0</kinematic>
|
||||
<velocity_decay/>
|
||||
</link>
|
||||
<link name='r_gripper_l_finger_link'>
|
||||
<pose>0.847910 -0.178000 0.790675 0.000000 -0.000000 0.000000</pose>
|
||||
<inertial>
|
||||
<pose>0.035980 0.017300 -0.001640 0.000000 -0.000000 0.000000</pose>
|
||||
<inertia>
|
||||
<ixx>0.000078</ixx>
|
||||
<ixy>0.000001</ixy>
|
||||
<ixz>-0.000010</ixz>
|
||||
<iyy>0.000197</iyy>
|
||||
<iyz>-0.000003</iyz>
|
||||
<izz>0.000181</izz>
|
||||
</inertia>
|
||||
<mass>0.171260</mass>
|
||||
</inertial>
|
||||
<collision name='r_gripper_l_finger_link_geom'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://pr2/meshes/gripper_v0/l_finger.stl</uri>
|
||||
<scale>1.000000 1.000000 1.000000</scale>
|
||||
<uri>__default__</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>500.000000</mu>
|
||||
<mu2>500.000000</mu2>
|
||||
<fdir1>0.000000 0.000000 0.000000</fdir1>
|
||||
<slip1>0.000000</slip1>
|
||||
<slip2>0.000000</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<bounce>
|
||||
<restitution_coefficient>0.000000</restitution_coefficient>
|
||||
<threshold>100000.000000</threshold>
|
||||
</bounce>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0.000000</soft_cfm>
|
||||
<soft_erp>0.200000</soft_erp>
|
||||
<kp>1000000.000000</kp>
|
||||
<kd>1.000000</kd>
|
||||
<max_vel>0.000000</max_vel>
|
||||
<min_depth>0.001000</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
<laser_retro>0.000000</laser_retro>
|
||||
</collision>
|
||||
<visual name='r_gripper_l_finger_link_geom_visual'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://pr2/meshes/gripper_v0/l_finger.dae</uri>
|
||||
<scale>1.000000 1.000000 1.000000</scale>
|
||||
<uri>__default__</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
<laser_retro>0.000000</laser_retro>
|
||||
<transparency>0.000000</transparency>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<self_collide>0</self_collide>
|
||||
<kinematic>0</kinematic>
|
||||
<velocity_decay/>
|
||||
</link>
|
||||
<link name='r_gripper_l_finger_tip_link'>
|
||||
<pose>0.939280 -0.173050 0.790675 0.000000 -0.000000 0.000000</pose>
|
||||
<inertial>
|
||||
<pose>0.004230 0.002840 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<inertia>
|
||||
<ixx>0.000008</ixx>
|
||||
<ixy>0.000006</ixy>
|
||||
<ixz>0.000000</ixz>
|
||||
<iyy>0.000010</iyy>
|
||||
<iyz>0.000000</iyz>
|
||||
<izz>0.000015</izz>
|
||||
</inertia>
|
||||
<mass>0.044190</mass>
|
||||
</inertial>
|
||||
<collision name='r_gripper_l_finger_tip_link_geom'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://pr2/meshes/gripper_v0/l_finger_tip.stl</uri>
|
||||
<scale>1.000000 1.000000 1.000000</scale>
|
||||
<uri>__default__</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>500.000000</mu>
|
||||
<mu2>500.000000</mu2>
|
||||
<fdir1>0.000000 0.000000 0.000000</fdir1>
|
||||
<slip1>0.000000</slip1>
|
||||
<slip2>0.000000</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<bounce>
|
||||
<restitution_coefficient>0.000000</restitution_coefficient>
|
||||
<threshold>100000.000000</threshold>
|
||||
</bounce>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0.000000</soft_cfm>
|
||||
<soft_erp>0.200000</soft_erp>
|
||||
<kp>10000000.000000</kp>
|
||||
<kd>1.000000</kd>
|
||||
<max_vel>0.000000</max_vel>
|
||||
<min_depth>0.001000</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
<laser_retro>0.000000</laser_retro>
|
||||
</collision>
|
||||
<visual name='r_gripper_l_finger_tip_link_geom_visual'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://pr2/meshes/gripper_v0/l_finger_tip.dae</uri>
|
||||
<scale>1.000000 1.000000 1.000000</scale>
|
||||
<uri>__default__</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
<laser_retro>0.000000</laser_retro>
|
||||
<transparency>0.000000</transparency>
|
||||
</visual>
|
||||
<sensor name='r_gripper_l_finger_tip_contact_sensor' type='contact'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<contact>
|
||||
<collision>r_gripper_l_finger_tip_link_geom</collision>
|
||||
<topic>__default_topic__</topic>
|
||||
</contact>
|
||||
<always_on>0</always_on>
|
||||
<update_rate>100.000000</update_rate>
|
||||
<visualize>0</visualize>
|
||||
</sensor>
|
||||
<gravity>1</gravity>
|
||||
<self_collide>0</self_collide>
|
||||
<kinematic>0</kinematic>
|
||||
<velocity_decay/>
|
||||
</link>
|
||||
<link name='r_gripper_motor_slider_link'>
|
||||
<pose>0.939280 -0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
|
||||
<inertial>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<inertia>
|
||||
<ixx>0.001000</ixx>
|
||||
<ixy>0.000000</ixy>
|
||||
<ixz>0.000000</ixz>
|
||||
<iyy>0.001000</iyy>
|
||||
<iyz>0.000000</iyz>
|
||||
<izz>0.001000</izz>
|
||||
</inertia>
|
||||
<mass>0.010000</mass>
|
||||
</inertial>
|
||||
<gravity>1</gravity>
|
||||
<self_collide>0</self_collide>
|
||||
<kinematic>0</kinematic>
|
||||
<velocity_decay/>
|
||||
</link>
|
||||
<link name='r_gripper_motor_screw_link'>
|
||||
<pose>0.939280 -0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
|
||||
<inertial>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<inertia>
|
||||
<ixx>0.000100</ixx>
|
||||
<ixy>0.000000</ixy>
|
||||
<ixz>0.000000</ixz>
|
||||
<iyy>0.000100</iyy>
|
||||
<iyz>0.000000</iyz>
|
||||
<izz>0.000100</izz>
|
||||
</inertia>
|
||||
<mass>0.010000</mass>
|
||||
</inertial>
|
||||
<gravity>1</gravity>
|
||||
<self_collide>0</self_collide>
|
||||
<kinematic>0</kinematic>
|
||||
<velocity_decay/>
|
||||
</link>
|
||||
<link name='r_gripper_r_finger_link'>
|
||||
<pose>0.847910 -0.198000 0.790675 0.000000 -0.000000 0.000000</pose>
|
||||
<inertial>
|
||||
<pose>0.035760 -0.017360 -0.000950 0.000000 -0.000000 0.000000</pose>
|
||||
<inertia>
|
||||
<ixx>0.000077</ixx>
|
||||
<ixy>-0.000002</ixy>
|
||||
<ixz>-0.000008</ixz>
|
||||
<iyy>0.000198</iyy>
|
||||
<iyz>0.000002</iyz>
|
||||
<izz>0.000181</izz>
|
||||
</inertia>
|
||||
<mass>0.173890</mass>
|
||||
</inertial>
|
||||
<collision name='r_gripper_r_finger_link_geom'>
|
||||
<pose>0.000000 0.000000 0.000000 -3.141590 -0.000000 0.000000</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://pr2/meshes/gripper_v0/l_finger.stl</uri>
|
||||
<scale>1.000000 1.000000 1.000000</scale>
|
||||
<uri>__default__</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>500.000000</mu>
|
||||
<mu2>500.000000</mu2>
|
||||
<fdir1>0.000000 0.000000 0.000000</fdir1>
|
||||
<slip1>0.000000</slip1>
|
||||
<slip2>0.000000</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<bounce>
|
||||
<restitution_coefficient>0.000000</restitution_coefficient>
|
||||
<threshold>100000.000000</threshold>
|
||||
</bounce>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0.000000</soft_cfm>
|
||||
<soft_erp>0.200000</soft_erp>
|
||||
<kp>1000000.000000</kp>
|
||||
<kd>1.000000</kd>
|
||||
<max_vel>0.000000</max_vel>
|
||||
<min_depth>0.001000</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
<laser_retro>0.000000</laser_retro>
|
||||
</collision>
|
||||
<visual name='r_gripper_r_finger_link_geom_visual'>
|
||||
<pose>0.000000 0.000000 0.000000 -3.141590 0.000000 0.000000</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://pr2/meshes/gripper_v0/l_finger.dae</uri>
|
||||
<scale>1.000000 1.000000 1.000000</scale>
|
||||
<uri>__default__</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
<laser_retro>0.000000</laser_retro>
|
||||
<transparency>0.000000</transparency>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<self_collide>0</self_collide>
|
||||
<kinematic>0</kinematic>
|
||||
<velocity_decay/>
|
||||
</link>
|
||||
<link name='r_gripper_r_finger_tip_link'>
|
||||
<pose>0.939280 -0.202950 0.790675 0.000000 -0.000000 0.000000</pose>
|
||||
<inertial>
|
||||
<pose>0.004230 -0.002840 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<inertia>
|
||||
<ixx>0.000008</ixx>
|
||||
<ixy>-0.000006</ixy>
|
||||
<ixz>0.000000</ixz>
|
||||
<iyy>0.000010</iyy>
|
||||
<iyz>0.000000</iyz>
|
||||
<izz>0.000015</izz>
|
||||
</inertia>
|
||||
<mass>0.044190</mass>
|
||||
</inertial>
|
||||
<collision name='r_gripper_r_finger_tip_link_geom'>
|
||||
<pose>0.000000 0.000000 0.000000 -3.141590 -0.000000 0.000000</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://pr2/meshes/gripper_v0/l_finger_tip.stl</uri>
|
||||
<scale>1.000000 1.000000 1.000000</scale>
|
||||
<uri>__default__</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>500.000000</mu>
|
||||
<mu2>500.000000</mu2>
|
||||
<fdir1>0.000000 0.000000 0.000000</fdir1>
|
||||
<slip1>0.000000</slip1>
|
||||
<slip2>0.000000</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
<bounce>
|
||||
<restitution_coefficient>0.000000</restitution_coefficient>
|
||||
<threshold>100000.000000</threshold>
|
||||
</bounce>
|
||||
<contact>
|
||||
<ode>
|
||||
<soft_cfm>0.000000</soft_cfm>
|
||||
<soft_erp>0.200000</soft_erp>
|
||||
<kp>10000000.000000</kp>
|
||||
<kd>1.000000</kd>
|
||||
<max_vel>0.000000</max_vel>
|
||||
<min_depth>0.001000</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
<laser_retro>0.000000</laser_retro>
|
||||
</collision>
|
||||
<visual name='r_gripper_r_finger_tip_link_geom_visual'>
|
||||
<pose>0.000000 0.000000 0.000000 -3.141590 0.000000 0.000000</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://pr2/meshes/gripper_v0/l_finger_tip.dae</uri>
|
||||
<scale>1.000000 1.000000 1.000000</scale>
|
||||
<uri>__default__</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<cast_shadows>1</cast_shadows>
|
||||
<laser_retro>0.000000</laser_retro>
|
||||
<transparency>0.000000</transparency>
|
||||
</visual>
|
||||
<sensor name='r_gripper_r_finger_tip_contact_sensor' type='contact'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<contact>
|
||||
<collision>r_gripper_r_finger_tip_link_geom</collision>
|
||||
<topic>__default_topic__</topic>
|
||||
</contact>
|
||||
<always_on>0</always_on>
|
||||
<update_rate>100.000000</update_rate>
|
||||
<visualize>0</visualize>
|
||||
</sensor>
|
||||
<gravity>1</gravity>
|
||||
<self_collide>0</self_collide>
|
||||
<kinematic>0</kinematic>
|
||||
<velocity_decay/>
|
||||
</link>
|
||||
<link name='torso_lift_motor_screw_link'>
|
||||
<pose>-0.150000 0.000000 0.751000 0.000000 -0.000000 0.000000</pose>
|
||||
<inertial>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<inertia>
|
||||
<ixx>0.001000</ixx>
|
||||
<ixy>0.000000</ixy>
|
||||
<ixz>0.000000</ixz>
|
||||
<iyy>0.001000</iyy>
|
||||
<iyz>0.000000</iyz>
|
||||
<izz>0.001000</izz>
|
||||
</inertia>
|
||||
<mass>1.000000</mass>
|
||||
</inertial>
|
||||
<gravity>1</gravity>
|
||||
<self_collide>0</self_collide>
|
||||
<kinematic>0</kinematic>
|
||||
<velocity_decay/>
|
||||
</link>
|
||||
<link name='r_gripper_l_parallel_link'>
|
||||
<pose>0.829910 -0.157000 0.790675 0.000000 -0.000000 0.000000</pose>
|
||||
<inertial>
|
||||
<pose>0.035980 0.017300 -0.001640 0.000000 -0.000000 0.000000</pose>
|
||||
<inertia>
|
||||
<ixx>0.000078</ixx>
|
||||
<ixy>0.000001</ixy>
|
||||
<ixz>-0.000010</ixz>
|
||||
<iyy>0.000197</iyy>
|
||||
<iyz>-0.000003</iyz>
|
||||
<izz>0.000181</izz>
|
||||
</inertia>
|
||||
<mass>0.171260</mass>
|
||||
</inertial>
|
||||
<gravity>1</gravity>
|
||||
<self_collide>0</self_collide>
|
||||
<kinematic>0</kinematic>
|
||||
<velocity_decay/>
|
||||
</link>
|
||||
<link name='r_gripper_r_parallel_link'>
|
||||
<pose>0.829910 -0.219000 0.790675 0.000000 -0.000000 0.000000</pose>
|
||||
<inertial>
|
||||
<pose>0.035760 -0.017360 -0.000950 0.000000 -0.000000 0.000000</pose>
|
||||
<inertia>
|
||||
<ixx>0.000077</ixx>
|
||||
<ixy>-0.000002</ixy>
|
||||
<ixz>-0.000008</ixz>
|
||||
<iyy>0.000198</iyy>
|
||||
<iyz>0.000002</iyz>
|
||||
<izz>0.000181</izz>
|
||||
</inertia>
|
||||
<mass>0.173890</mass>
|
||||
</inertial>
|
||||
<gravity>1</gravity>
|
||||
<self_collide>0</self_collide>
|
||||
<kinematic>0</kinematic>
|
||||
<velocity_decay/>
|
||||
</link>
|
||||
<joint name='r_gripper_l_finger_joint' type='revolute'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<parent>r_wrist_roll_link</parent>
|
||||
<child>r_gripper_l_finger_link</child>
|
||||
<axis>
|
||||
<dynamics>
|
||||
<damping>0.020000</damping>
|
||||
<friction>0.000000</friction>
|
||||
</dynamics>
|
||||
<limit>
|
||||
<lower>0.000000</lower>
|
||||
<upper>0.548000</upper>
|
||||
<effort>0.000000</effort>
|
||||
<velocity>0.000000</velocity>
|
||||
</limit>
|
||||
<xyz>0.000000 0.000000 1.000000</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name='r_gripper_l_finger_tip_joint' type='revolute'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<parent>r_gripper_l_finger_link</parent>
|
||||
<child>r_gripper_l_finger_tip_link</child>
|
||||
<axis>
|
||||
<dynamics>
|
||||
<damping>0.001000</damping>
|
||||
<friction>0.000000</friction>
|
||||
</dynamics>
|
||||
<limit>
|
||||
<lower>0.000000</lower>
|
||||
<upper>0.548000</upper>
|
||||
<effort>0.000000</effort>
|
||||
<velocity>0.000000</velocity>
|
||||
</limit>
|
||||
<xyz>0.000000 0.000000 -1.000000</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name='r_gripper_motor_slider_joint' type='prismatic'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<parent>r_wrist_roll_link</parent>
|
||||
<child>r_gripper_motor_slider_link</child>
|
||||
<axis>
|
||||
<dynamics>
|
||||
<damping>0.000000</damping>
|
||||
<friction>0.000000</friction>
|
||||
</dynamics>
|
||||
<limit>
|
||||
<lower>-0.100000</lower>
|
||||
<upper>0.100000</upper>
|
||||
<effort>0.000000</effort>
|
||||
<velocity>0.000000</velocity>
|
||||
</limit>
|
||||
<xyz>1.000000 0.000000 0.000000</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name='r_gripper_motor_screw_joint' type='revolute'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<parent>r_gripper_motor_slider_link</parent>
|
||||
<child>r_gripper_motor_screw_link</child>
|
||||
<axis>
|
||||
<dynamics>
|
||||
<damping>0.000100</damping>
|
||||
<friction>0.000000</friction>
|
||||
</dynamics>
|
||||
<limit>
|
||||
<lower>-10000000000000000.000000</lower>
|
||||
<upper>10000000000000000.000000</upper>
|
||||
<effort>0.000000</effort>
|
||||
<velocity>0.000000</velocity>
|
||||
</limit>
|
||||
<xyz>0.000000 1.000000 0.000000</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name='r_gripper_r_finger_joint' type='revolute'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<parent>r_wrist_roll_link</parent>
|
||||
<child>r_gripper_r_finger_link</child>
|
||||
<axis>
|
||||
<dynamics>
|
||||
<damping>0.020000</damping>
|
||||
<friction>0.000000</friction>
|
||||
</dynamics>
|
||||
<limit>
|
||||
<lower>0.000000</lower>
|
||||
<upper>0.548000</upper>
|
||||
<effort>0.000000</effort>
|
||||
<velocity>0.000000</velocity>
|
||||
</limit>
|
||||
<xyz>0.000000 0.000000 -1.000000</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name='r_gripper_r_finger_tip_joint' type='revolute'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<parent>r_gripper_r_finger_link</parent>
|
||||
<child>r_gripper_r_finger_tip_link</child>
|
||||
<axis>
|
||||
<dynamics>
|
||||
<damping>0.001000</damping>
|
||||
<friction>0.000000</friction>
|
||||
</dynamics>
|
||||
<limit>
|
||||
<lower>0.000000</lower>
|
||||
<upper>0.548000</upper>
|
||||
<effort>0.000000</effort>
|
||||
<velocity>0.000000</velocity>
|
||||
</limit>
|
||||
<xyz>0.000000 0.000000 1.000000</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name='r_gripper_r_screw_screw_joint' type='screw'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<parent>r_gripper_r_finger_tip_link</parent>
|
||||
<child>r_gripper_motor_screw_link</child>
|
||||
<thread_pitch>-3141.600000</thread_pitch>
|
||||
<axis>
|
||||
<dynamics>
|
||||
<damping>0.000000</damping>
|
||||
<friction>0.000000</friction>
|
||||
</dynamics>
|
||||
<limit>
|
||||
<lower>-10000000000000000.000000</lower>
|
||||
<upper>10000000000000000.000000</upper>
|
||||
<effort>0.000000</effort>
|
||||
<velocity>0.000000</velocity>
|
||||
</limit>
|
||||
<xyz>0.000000 1.000000 0.000000</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name='r_gripper_l_screw_screw_joint' type='screw'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<parent>r_gripper_l_finger_tip_link</parent>
|
||||
<child>r_gripper_motor_screw_link</child>
|
||||
<thread_pitch>3141.600000</thread_pitch>
|
||||
<axis>
|
||||
<dynamics>
|
||||
<damping>0.000000</damping>
|
||||
<friction>0.000000</friction>
|
||||
</dynamics>
|
||||
<limit>
|
||||
<lower>-10000000000000000.000000</lower>
|
||||
<upper>10000000000000000.000000</upper>
|
||||
<effort>0.000000</effort>
|
||||
<velocity>0.000000</velocity>
|
||||
</limit>
|
||||
<xyz>0.000000 1.000000 0.000000</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name='r_gripper_r_parallel_root_joint' type='revolute'>
|
||||
<pose>0.058910 -0.031000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<parent>r_gripper_r_parallel_link</parent>
|
||||
<child>r_wrist_roll_link</child>
|
||||
<axis>
|
||||
<dynamics>
|
||||
<damping>0.200000</damping>
|
||||
<friction>0.000000</friction>
|
||||
</dynamics>
|
||||
<limit>
|
||||
<lower>-10000000000000000.000000</lower>
|
||||
<upper>10000000000000000.000000</upper>
|
||||
<effort>0.000000</effort>
|
||||
<velocity>0.000000</velocity>
|
||||
</limit>
|
||||
<xyz>0.000000 0.000000 -1.000000</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name='r_gripper_l_parallel_root_joint' type='revolute'>
|
||||
<pose>0.058910 0.031000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<parent>r_gripper_l_parallel_link</parent>
|
||||
<child>r_wrist_roll_link</child>
|
||||
<axis>
|
||||
<dynamics>
|
||||
<damping>0.200000</damping>
|
||||
<friction>0.000000</friction>
|
||||
</dynamics>
|
||||
<limit>
|
||||
<lower>-10000000000000000.000000</lower>
|
||||
<upper>10000000000000000.000000</upper>
|
||||
<effort>0.000000</effort>
|
||||
<velocity>0.000000</velocity>
|
||||
</limit>
|
||||
<xyz>0.000000 0.000000 1.000000</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name='r_gripper_r_parallel_tip_joint' type='revolute'>
|
||||
<pose>-0.018000 -0.021000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<parent>r_gripper_r_parallel_link</parent>
|
||||
<child>r_gripper_r_finger_tip_link</child>
|
||||
<axis>
|
||||
<dynamics>
|
||||
<damping>0.000000</damping>
|
||||
<friction>0.000000</friction>
|
||||
</dynamics>
|
||||
<limit>
|
||||
<lower>-10000000000000000.000000</lower>
|
||||
<upper>10000000000000000.000000</upper>
|
||||
<effort>0.000000</effort>
|
||||
<velocity>0.000000</velocity>
|
||||
</limit>
|
||||
<xyz>0.000000 0.000000 1.000000</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name='r_gripper_l_parallel_tip_joint' type='revolute'>
|
||||
<pose>-0.018000 0.021000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<parent>r_gripper_l_parallel_link</parent>
|
||||
<child>r_gripper_l_finger_tip_link</child>
|
||||
<axis>
|
||||
<dynamics>
|
||||
<damping>0.000000</damping>
|
||||
<friction>0.000000</friction>
|
||||
</dynamics>
|
||||
<limit>
|
||||
<lower>-10000000000000000.000000</lower>
|
||||
<upper>10000000000000000.000000</upper>
|
||||
<effort>0.000000</effort>
|
||||
<velocity>0.000000</velocity>
|
||||
</limit>
|
||||
<xyz>0.000000 0.000000 1.000000</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name='r_gripper_joint' type='prismatic'>
|
||||
<pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
|
||||
<parent>r_gripper_r_finger_tip_link</parent>
|
||||
<child>r_gripper_l_finger_tip_link</child>
|
||||
<axis>
|
||||
<dynamics>
|
||||
<damping>0.000000</damping>
|
||||
<friction>0.000000</friction>
|
||||
</dynamics>
|
||||
<limit>
|
||||
<lower>-10000000000000000.000000</lower>
|
||||
<upper>10000000000000000.000000</upper>
|
||||
<effort>0.000000</effort>
|
||||
<velocity>0.000000</velocity>
|
||||
</limit>
|
||||
<xyz>0.000000 1.000000 0.000000</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<static>0</static>
|
||||
</model>
|
||||
</gazebo>
|
||||
Success
|
||||
@ -10,6 +10,13 @@
|
||||
<email>hsu@osrfoundation.org</email>
|
||||
</author>
|
||||
|
||||
<depend>
|
||||
<model>
|
||||
<uri>model://simple_gripper</uri>
|
||||
<version>1.0</version>
|
||||
</model>
|
||||
</depend>
|
||||
|
||||
<description>
|
||||
A simple arm and pinch gripper.
|
||||
</description>
|
||||
|
||||
@ -7,6 +7,7 @@
|
||||
|
||||
<include>
|
||||
<uri>model://simple_gripper</uri>
|
||||
<pose>1.8 0 1 0 0 0</pose>
|
||||
</include>
|
||||
|
||||
<plugin name="simple_arm_plugin" filename="libJointTrajectoryPlugin.so"/>
|
||||
|
||||
@ -9,7 +9,7 @@
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.2 0.2 1.0</size>
|
||||
<size>0.05 0.05 1.0</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
@ -23,7 +23,7 @@
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.2 0.2 1.0</size>
|
||||
<size>0.05 0.05 1.0</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
@ -231,14 +231,6 @@
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name="fixed_riser" type="revolute">
|
||||
<child>riser</child>
|
||||
<parent>world</parent>
|
||||
<axis>
|
||||
<limit><lower>0</lower><upper>0</upper></limit>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<gripper name="simple_gripper">
|
||||
<grasp_check>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user