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panda_gripper_glb.urdf
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panda_gripper_glb.urdf
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<?xml version="1.0"?>
<robot name="panda_gripper">
<link name="panda_hand">
<visual>
<geometry>
<mesh filename="meshes/visual/hand.glb"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0.02617"/>
<geometry>
<box size="0.036 0.08 0.2"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0003"/>
<geometry>
<cylinder radius="0.03" length="0.0077"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.01 0 0.03"/>
<mass value="0.73"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"/>
</inertial>
</link>
<link name="panda_hand_tcp"/>
<joint name="panda_hand_tcp_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.1034"/>
<parent link="panda_hand"/>
<child link="panda_hand_tcp"/>
</joint>
<link name="panda_leftfinger">
<visual>
<geometry>
<mesh filename="meshes/visual/finger.glb"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 18.5e-3 11e-3"/>
<geometry>
<box size="22e-3 15e-3 20e-3"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 6.8e-3 2.2e-3"/>
<geometry>
<box size="22e-3 8.8e-3 3.8e-3"/>
</geometry>
</collision>
<collision>
<origin rpy="0.5235987755982988 0 0" xyz="0 15.9e-3 28.35e-3"/>
<geometry>
<box size="17.5e-3 7e-3 23.5e-3"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 7.58e-3 45.25e-3"/>
<geometry>
<box size="17.5e-3 15.2e-3 18.5e-3"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.015"/>
<inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06"
iyz="0" izz="7.5e-07"/>
</inertial>
</link>
<link name="panda_rightfinger">
<visual>
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/visual/finger.glb"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -18.5e-3 11e-3"/>
<geometry>
<box size="22e-3 15e-3 20e-3"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -6.8e-3 2.2e-3"/>
<geometry>
<box size="22e-3 8.8e-3 3.8e-3"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.5235987755982988 0 0" xyz="0 -15.9e-3 28.35e-3"/>
<geometry>
<box size="17.5e-3 7e-3 23.5e-3"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -7.58e-3 45.25e-3"/>
<geometry>
<box size="17.5e-3 15.2e-3 18.5e-3"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.015"/>
<inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06"
iyz="0" izz="7.5e-07"/>
</inertial>
</link>
<joint name="panda_finger_joint1" type="prismatic">
<parent link="panda_hand"/>
<child link="panda_leftfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
<dynamics damping="0.3"/>
</joint>
<joint name="panda_finger_joint2" type="prismatic">
<parent link="panda_hand"/>
<child link="panda_rightfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 -1 0"/>
<limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
<mimic joint="panda_finger_joint1" multiplier="1" offset="0"/>
<dynamics damping="0.3"/>
</joint>
</robot>