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simple_gripper/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<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>
<use_parent_model_frame>true</use_parent_model_frame>
</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>
<use_parent_model_frame>true</use_parent_model_frame>
</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>
<use_parent_model_frame>true</use_parent_model_frame>
</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>
<use_parent_model_frame>true</use_parent_model_frame>
</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>
<use_parent_model_frame>true</use_parent_model_frame>
</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>
</sdf>