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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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27
simple_arm_gripper/model-1_2.sdf Normal file
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<?xml version="1.0" ?>
<gazebo version="1.2">
<model name="simple_arm_gripper">
<include>
<uri>model://simple_arm</uri>
</include>
<include>
<uri>model://simple_gripper</uri>
<pose>1.8 0 1 0 0 0</pose>
</include>
<plugin name="simple_arm_plugin" filename="libJointTrajectoryPlugin.so"/>
<joint name="arm_gripper_joint" type="revolute">
<parent>simple_arm::arm_wrist_roll</parent>
<child>simple_gripper::riser</child>
<axis>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<xyz>0 0 1</xyz>
</axis>
</joint>
</model>
</gazebo>

27
simple_arm_gripper/model-1_3.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.3">
<model name="simple_arm_gripper">
<include>
<uri>model://simple_arm</uri>
</include>
<include>
<uri>model://simple_gripper</uri>
<pose>1.8 0 1 0 0 0</pose>
</include>
<plugin name="simple_arm_plugin" filename="libJointTrajectoryPlugin.so"/>
<joint name="arm_gripper_joint" type="revolute">
<parent>simple_arm::arm_wrist_roll</parent>
<child>simple_gripper::riser</child>
<axis>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<xyz>0 0 1</xyz>
</axis>
</joint>
</model>
</sdf>

27
simple_arm_gripper/model-1_4.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="simple_arm_gripper">
<include>
<uri>model://simple_arm</uri>
</include>
<include>
<uri>model://simple_gripper</uri>
<pose>1.8 0 1 0 0 0</pose>
</include>
<plugin name="simple_arm_plugin" filename="libJointTrajectoryPlugin.so"/>
<joint name="arm_gripper_joint" type="revolute">
<parent>simple_arm::arm_wrist_roll</parent>
<child>simple_gripper::riser</child>
<axis>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<xyz>0 0 1</xyz>
</axis>
</joint>
</model>
</sdf>

26
simple_arm_gripper/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Simple Arm Gripper</name>
<version>1.0</version>
<sdf version="1.2">model-1_2.sdf</sdf>
<sdf version="1.3">model-1_3.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>John Hsu</name>
<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>
</model>

25
simple_arm_gripper/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="simple_arm_gripper">
<include>
<uri>model://simple_arm</uri>
</include>
<include>
<uri>model://simple_gripper</uri>
<pose>1.8 0 1 0 0 0</pose>
</include>
<plugin name="simple_arm_plugin" filename="libJointTrajectoryPlugin.so" />
<joint name="arm_gripper_joint" type="revolute">
<parent>simple_arm::arm_wrist_roll</parent>
<child>simple_gripper::riser</child>
<axis>
<limit>
<lower>0</lower>
<upper>0</upper>
</limit>
<xyz>0 0 1</xyz>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
</model>
</sdf>