mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 05:10:08 +00:00
143 lines
3.7 KiB
XML
143 lines
3.7 KiB
XML
<?xml version="1.0"?>
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<robot name="physics">
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<link name="gripper_pole">
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<visual>
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<geometry>
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<cylinder length="0.2" radius=".01"/>
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</geometry>
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<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
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<material name="Gray">
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<color rgba=".7 .7 .7 1"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<cylinder length="0.2" radius=".01"/>
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</geometry>
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<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
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</collision>
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<inertial>
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<mass value="0.5"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="left_gripper_joint" type="revolute">
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<axis xyz="0 0 1"/>
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<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
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<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
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<parent link="gripper_pole"/>
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<child link="left_gripper"/>
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</joint>
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<link name="left_gripper">
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<contact>
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<lateral_friction value="1.0"/>
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<spinning_friction value="1.5"/>
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</contact>
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<visual>
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<origin rpy="0.0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="l_finger_collision.stl"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0.0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="l_finger_collision.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="left_tip_joint" type="fixed">
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<parent link="left_gripper"/>
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<child link="left_tip"/>
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</joint>
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<link name="left_tip">
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<contact>
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<lateral_friction value="1.0"/>
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<spinning_friction value="1.5"/>
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</contact>
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<visual>
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<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
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<geometry>
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<mesh filename="l_finger_tip.stl"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<box size=".03 .03 .02"/>
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</geometry>
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<origin rpy="0.0 0 0" xyz="0.105 0.00495 0"/>
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</collision>
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<inertial>
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<mass value="0.1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="right_gripper_joint" type="revolute">
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<axis xyz="0 0 -1"/>
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<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
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<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
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<parent link="gripper_pole"/>
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<child link="right_gripper"/>
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</joint>
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<link name="right_gripper">
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<contact>
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<lateral_friction value="1.0"/>
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<spinning_friction value="1.5"/>
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</contact>
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<visual>
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<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="l_finger_collision.stl"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="l_finger_collision.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<joint name="right_tip_joint" type="fixed">
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<parent link="right_gripper"/>
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<child link="right_tip"/>
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</joint>
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<link name="right_tip">
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<contact>
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<lateral_friction value="1.0"/>
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<spinning_friction value="1.5"/>
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</contact>
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<visual>
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<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
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<geometry>
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<mesh filename="l_finger_tip.stl"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<box size=".03 .03 .02"/>
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</geometry>
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<origin rpy="-3.1415 0 0" xyz="0.105 0.00495 0"/>
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</collision>
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<inertial>
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<mass value="0.1"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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</robot>
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