init
This commit is contained in:
Quella777
248
simple_gripper/model-1_2.sdf
Normal file
248
simple_gripper/model-1_2.sdf
Normal file
@@ -0,0 +1,248 @@
|
||||
<?xml version="1.0" ?>
|
||||
<gazebo version="1.2">
|
||||
<model name="simple_gripper">
|
||||
<link name="riser">
|
||||
<pose>-0.15 0.0 0.5 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>10</mass>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.05 0.05 1.0</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>0.0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.05 0.05 1.0</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="palm">
|
||||
<pose>0.0 0.0 0.05 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.5</mass>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 0.2 0.1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>0.0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 0.2 0.1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="left_finger">
|
||||
<pose>0.1 0.2 0.05 0 0 -0.78539</pose>
|
||||
<inertial>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 0.3 0.1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>0.1</mu>
|
||||
<mu2>0</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>0.0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 0.3 0.1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="left_finger_tip">
|
||||
<pose>0.336 0.3 0.05 0 0 1.5707</pose>
|
||||
<inertial>
|
||||
<mass>0.5</mass>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 0.2 0.1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>.1</mu>
|
||||
<mu2>0</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>0.0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 0.2 0.1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="right_finger">
|
||||
<pose>0.1 -0.2 0.05 0 0 .78539</pose>
|
||||
<inertial>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 0.3 0.1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>0.1</mu>
|
||||
<mu2>0</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>0.0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 0.3 0.1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="right_finger_tip">
|
||||
<pose>0.336 -0.3 0.05 0 0 1.5707</pose>
|
||||
<inertial>
|
||||
<mass>0.1</mass>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 0.2 0.1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>0.1</mu>
|
||||
<mu2>0</mu2>
|
||||
</ode>
|
||||
</friction>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>0.0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 0.2 0.1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="palm_left_finger" type="revolute">
|
||||
<pose>0 -0.15 0 0 0 0</pose>
|
||||
<child>left_finger</child>
|
||||
<parent>palm</parent>
|
||||
<axis>
|
||||
<limit><lower>-0.8</lower><upper>0.8</upper></limit>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name="left_finger_tip" type="revolute">
|
||||
<pose>0 0.1 0 0 0 0</pose>
|
||||
<child>left_finger_tip</child>
|
||||
<parent>left_finger</parent>
|
||||
<axis>
|
||||
<limit><lower>-0.8</lower><upper>0.8</upper></limit>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name="palm_right_finger" type="revolute">
|
||||
<pose>0 0.15 0 0 0 0</pose>
|
||||
<child>right_finger</child>
|
||||
<parent>palm</parent>
|
||||
<axis>
|
||||
<limit><lower>-0.8</lower><upper>0.8</upper></limit>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name="right_finger_tip" type="revolute">
|
||||
<pose>0 0.1 0 0 0 0</pose>
|
||||
<child>right_finger_tip</child>
|
||||
<parent>right_finger</parent>
|
||||
<axis>
|
||||
<limit><lower>-0.8</lower><upper>0.8</upper></limit>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name="palm_riser" type="prismatic">
|
||||
<child>palm</child>
|
||||
<parent>riser</parent>
|
||||
<axis>
|
||||
<limit><lower>0</lower><upper>0.9</upper></limit>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<gripper name="simple_gripper">
|
||||
<grasp_check>
|
||||
<detach_steps>40</detach_steps>
|
||||
<attach_steps>20</attach_steps>
|
||||
<min_contact_count>2</min_contact_count>
|
||||
</grasp_check>
|
||||
<gripper_link>right_finger</gripper_link>
|
||||
<gripper_link>right_finger_tip</gripper_link>
|
||||
<gripper_link>left_finger</gripper_link>
|
||||
<gripper_link>left_finger_tip</gripper_link>
|
||||
<palm_link>palm</palm_link>
|
||||
</gripper>
|
||||
</model>
|
||||
</gazebo>
|
||||
Reference in New Issue
Block a user