mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
d2888f0884
fix tray/tray_textured4.obj and tray/tray.urdf fix kuka_with_cube.py allow both IK /end-effector control and joint-space control in kuka environment, use 1./240. sec. step and 150 solver iter bump up pybullet to 1.1.7
803 lines
23 KiB
XML
803 lines
23 KiB
XML
<?xml version="1.0" ?>
|
|
<!--This file contains the SDF model of a KUKA iiwa robot with a wsg50 gripper.
|
|
It has been produced from the varients in //third_party/robotics/models.
|
|
Note: This file is temporary, and should be deleted once Bullet supports
|
|
importing models in SDF. Also, this file has been specialized for Bullet,
|
|
because the mass of the base link has been set to 0, as needed by Bullet.
|
|
Note: All of the gripper link poses have been adjusted in the z direction
|
|
to achieve a reasonable position of the gripper relative to the arm.
|
|
Note: The joint names for the KUKA have been changed to J0, J1, etc. -->
|
|
<sdf version='1.6'>
|
|
<world name='default'>
|
|
<model name='lbr_iiwa_with_wsg50'>
|
|
<link name='lbr_iiwa_link_0'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
|
|
<mass>0</mass>
|
|
<inertia>
|
|
<ixx>0.05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.06</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.03</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='lbr_iiwa_link_0_collision'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>/meshes/link_0.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='lbr_iiwa_link_0_visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>meshes/link_0.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 0 0 1</ambient>
|
|
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
|
<specular>0.4 0.4 0.4 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<link name='lbr_iiwa_link_1'>
|
|
<pose frame=''>0 0 0.1575 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
|
|
<mass>4</mass>
|
|
<inertia>
|
|
<ixx>0.1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.09</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.02</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='lbr_iiwa_link_1_collision'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>meshes/link_1.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='lbr_iiwa_link_1_visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>meshes/link_1.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 0 0 1</ambient>
|
|
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
|
<specular>0.5 0.5 0.5 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name='J0' type='revolute'>
|
|
<child>lbr_iiwa_link_1</child>
|
|
<parent>lbr_iiwa_link_0</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-2.96706</lower>
|
|
<upper>2.96706</upper>
|
|
<effort>300</effort>
|
|
<velocity>10</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.5</damping>
|
|
<friction>0</friction>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<link name='lbr_iiwa_link_2'>
|
|
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
|
|
<inertial>
|
|
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
|
|
<mass>4</mass>
|
|
<inertia>
|
|
<ixx>0.05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.018</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.044</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='lbr_iiwa_link_2_collision'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>meshes/link_2.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='lbr_iiwa_link_2_visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>meshes/link_2.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 0 0 1</ambient>
|
|
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
|
<specular>0.5 0.5 0.5 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name='J1' type='revolute'>
|
|
<child>lbr_iiwa_link_2</child>
|
|
<parent>lbr_iiwa_link_1</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-2.0944</lower>
|
|
<upper>2.0944</upper>
|
|
<effort>300</effort>
|
|
<velocity>10</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.5</damping>
|
|
<friction>0</friction>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<link name='lbr_iiwa_link_3'>
|
|
<pose frame=''>0 -0 0.5645 0 0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
|
|
<mass>3</mass>
|
|
<inertia>
|
|
<ixx>0.08</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.075</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.01</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='lbr_iiwa_link_3_collision'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>meshes/link_3.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='lbr_iiwa_link_3_visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>meshes/link_3.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 0 0 1</ambient>
|
|
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
|
|
<specular>0.5 0.5 0.5 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name='J2' type='revolute'>
|
|
<child>lbr_iiwa_link_3</child>
|
|
<parent>lbr_iiwa_link_2</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-2.96706</lower>
|
|
<upper>2.96706</upper>
|
|
<effort>300</effort>
|
|
<velocity>10</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.5</damping>
|
|
<friction>0</friction>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<link name='lbr_iiwa_link_4'>
|
|
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
|
|
<mass>2.7</mass>
|
|
<inertia>
|
|
<ixx>0.03</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.01</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.029</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='lbr_iiwa_link_4_collision'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>meshes/link_4.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='lbr_iiwa_link_4_visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>meshes/link_4.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 0 0 1</ambient>
|
|
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
|
<specular>0.5 0.5 0.5 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name='J3' type='revolute'>
|
|
<child>lbr_iiwa_link_4</child>
|
|
<parent>lbr_iiwa_link_3</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-2.0944</lower>
|
|
<upper>2.0944</upper>
|
|
<effort>300</effort>
|
|
<velocity>10</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.5</damping>
|
|
<friction>0</friction>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<link name='lbr_iiwa_link_5'>
|
|
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
|
|
<inertial>
|
|
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
|
|
<mass>1.7</mass>
|
|
<inertia>
|
|
<ixx>0.02</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.018</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.005</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='lbr_iiwa_link_5_collision'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>meshes/link_5.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='lbr_iiwa_link_5_visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>meshes/link_5.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 0 0 1</ambient>
|
|
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
|
<specular>0.5 0.5 0.5 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name='J4' type='revolute'>
|
|
<child>lbr_iiwa_link_5</child>
|
|
<parent>lbr_iiwa_link_4</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-2.96706</lower>
|
|
<upper>2.96706</upper>
|
|
<effort>300</effort>
|
|
<velocity>10</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.5</damping>
|
|
<friction>0</friction>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<link name='lbr_iiwa_link_6'>
|
|
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
|
|
<mass>1.8</mass>
|
|
<inertia>
|
|
<ixx>0.005</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.0036</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.0047</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='lbr_iiwa_link_6_collision'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>meshes/link_6.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='lbr_iiwa_link_6_visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>meshes/link_6.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 0 0 1</ambient>
|
|
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
|
|
<specular>0.5 0.5 0.5 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name='J5' type='revolute'>
|
|
<child>lbr_iiwa_link_6</child>
|
|
<parent>lbr_iiwa_link_5</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-2.0944</lower>
|
|
<upper>2.0944</upper>
|
|
<effort>300</effort>
|
|
<velocity>10</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.5</damping>
|
|
<friction>0</friction>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<link name='lbr_iiwa_link_7'>
|
|
<pose frame=''>0 0 1.261 0 0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0.02 0 -0 0</pose>
|
|
<mass>0.3</mass>
|
|
<inertia>
|
|
<ixx>0.001</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.001</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.001</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name='lbr_iiwa_link_7_collision'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>meshes/link_7.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='lbr_iiwa_link_7_visual'>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1</scale>
|
|
<uri>meshes/link_7.obj</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 0 0 1</ambient>
|
|
<diffuse>0.6 0.6 0.6 1</diffuse>
|
|
<specular>0.5 0.5 0.5 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name='J6' type='revolute'>
|
|
<child>lbr_iiwa_link_7</child>
|
|
<parent>lbr_iiwa_link_6</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>-3.05433</lower>
|
|
<upper>3.05433</upper>
|
|
<effort>300</effort>
|
|
<velocity>10</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.5</damping>
|
|
<friction>0</friction>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
|
|
<!-- Attach the base of the gripper to the end of the arm -->
|
|
<joint name='gripper_to_arm' type='fixed'>
|
|
<parent>lbr_iiwa_link_7</parent>
|
|
<child>base_link</child>
|
|
</joint>
|
|
<link name='base_link'>
|
|
<pose frame=''>0 0 1.305 0 -0 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0 0 -0 0</pose>
|
|
<mass>1.2</mass>
|
|
<inertia>
|
|
<ixx>1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<visual name='base_link_visual'>
|
|
<pose frame=''>0 0 0 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.05 0.1 </size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 0 0 1</ambient>
|
|
<diffuse>0.6 0.6 0.6 1</diffuse>
|
|
<specular>0.5 0.5 0.5 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
|
|
<joint name='base_left_finger_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>left_finger</child>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-10.4</lower>
|
|
<upper>10.01</upper>
|
|
<effort>100</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<link name='left_finger'>
|
|
<pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0.04 0 0 0</pose>
|
|
<mass>0.1</mass>
|
|
<inertia>
|
|
<ixx>0.1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.1</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<visual name='left_finger_visual'>
|
|
<pose frame=''>0 0 0.04 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01 0.01 0.08</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 0 0 1</ambient>
|
|
<diffuse>0.6 0.6 0.6 1</diffuse>
|
|
<specular>0.5 0.5 0.5 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name='left_finger_base_joint' type='fixed'>
|
|
<parent>left_finger</parent>
|
|
<child>left_finger_base</child>
|
|
</joint>
|
|
<link name='left_finger_base'>
|
|
<pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
|
|
<inertial>
|
|
<pose frame=''>-0.003 0 0.04 0 0 0 </pose>
|
|
<mass>0.2</mass>
|
|
<inertia>
|
|
<ixx>0.1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.1</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<visual name='left_finger_base_visual'>
|
|
<pose frame=''>0 0 0 0 0 0 </pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1 </scale>
|
|
<uri>meshes/finger_base_left.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 0 0 1</ambient>
|
|
<diffuse>0.6 0.6 0.6 1</diffuse>
|
|
<specular>0.5 0.5 0.5 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
<collision name='left_finger_base_collision'>
|
|
<pose frame=''>0 0 0 0 0 0 </pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1 </scale>
|
|
<uri>meshes/finger_base_left.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name='left_base_tip_joint' type='revolute'>
|
|
<parent>left_finger_base</parent>
|
|
<child>left_finger_tip</child>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-10.1</lower>
|
|
<upper>10.3</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<link name='left_finger_tip'>
|
|
<contact>
|
|
<lateral_friction>0.8</lateral_friction>
|
|
<spinning_friction>1.0</spinning_friction>
|
|
</contact>
|
|
<pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
|
|
<inertial>
|
|
<pose frame=''>-0.005 0 0.026 0 0 0 </pose>
|
|
<mass>0.2</mass>
|
|
<inertia>
|
|
<ixx>0.1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.1</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<visual name='left_finger_tip_visual'>
|
|
<pose frame=''>0 0 0 0 0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1 </scale>
|
|
<uri>meshes/finger_tip_left.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 0 0 1</ambient>
|
|
<diffuse>0.6 0.6 0.6 1</diffuse>
|
|
<specular>0.5 0.5 0.5 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
<collision name='left_finger_tip_collision'>
|
|
<pose frame=''>0 0 0 0 0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1 </scale>
|
|
<uri>meshes/finger_tip_left.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name='base_right_finger_joint' type='revolute'>
|
|
<parent>base_link</parent>
|
|
<child>right_finger</child>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-10.01</lower>
|
|
<upper>10.4</upper>
|
|
<effort>100</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<link name='right_finger'>
|
|
<pose frame=''>0 0.024 1.35 0 0.05 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0 0 0.04 0 0 0</pose>
|
|
<mass>0.1</mass>
|
|
<inertia>
|
|
<ixx>0.1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.1</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<visual name='right_finger_visual'>
|
|
<pose frame=''>0 0 0.04 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.01 0.01 0.08</size>
|
|
</box>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 0 0 1</ambient>
|
|
<diffuse>0.6 0.6 0.6 1</diffuse>
|
|
<specular>0.5 0.5 0.5 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name='right_finger_base_joint' type='fixed'>
|
|
<parent>right_finger</parent>
|
|
<child>right_finger_base</child>
|
|
</joint>
|
|
<link name='right_finger_base'>
|
|
<pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0.003 0 0.04 0 0 0 </pose>
|
|
<mass>0.2</mass>
|
|
<inertia>
|
|
<ixx>0.1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.1</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<visual name='right_finger_base_visual'>
|
|
<pose frame=''>0 0 0 0 0 0 </pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1 </scale>
|
|
<uri>meshes/finger_base_right.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 0 0 1</ambient>
|
|
<diffuse>0.6 0.6 0.6 1</diffuse>
|
|
<specular>0.5 0.5 0.5 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
<collision name='right_finger_base_collision'>
|
|
<pose frame=''>0 0 0 0 0 0 </pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1 </scale>
|
|
<uri>meshes/finger_base_right.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name='right_base_tip_joint' type='revolute'>
|
|
<parent>right_finger_base</parent>
|
|
<child>right_finger_tip</child>
|
|
<axis>
|
|
<xyz>0 1 0</xyz>
|
|
<limit>
|
|
<lower>-10.3</lower>
|
|
<upper>10.1</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0</damping>
|
|
<friction>0</friction>
|
|
<spring_reference>0</spring_reference>
|
|
<spring_stiffness>0</spring_stiffness>
|
|
</dynamics>
|
|
</axis>
|
|
</joint>
|
|
<link name='right_finger_tip'>
|
|
<contact>
|
|
<lateral_friction>0.8</lateral_friction>
|
|
<spinning_friction>1.0</spinning_friction>
|
|
</contact>
|
|
<pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
|
|
<inertial>
|
|
<pose frame=''>0.005 0 0.026 0 0 0 </pose>
|
|
<mass>0.2</mass>
|
|
<inertia>
|
|
<ixx>0.1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.1</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<visual name='right_finger_visual'>
|
|
<pose frame=''>0 0 0 0 0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1 </scale>
|
|
<uri>meshes/finger_tip_right.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
<material>
|
|
<ambient>1 0 0 1</ambient>
|
|
<diffuse>0.6 0.6 0.6 1</diffuse>
|
|
<specular>0.5 0.5 0.5 1</specular>
|
|
<emissive>0 0 0 0</emissive>
|
|
</material>
|
|
</visual>
|
|
<collision name='right_finger_tip_collision'>
|
|
<pose frame=''>0 0 0 0 0 0</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<scale>1 1 1 </scale>
|
|
<uri>meshes/finger_tip_right.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
</model>
|
|
</world>
|
|
</sdf>
|