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<?xml version="1.0"?>
<robot name="visual">
<!-- E. Culurciello, March 2021 -->
<!-- basic 2-fingers gripper -->
<link name="base">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
<origin/>
</inertial>
<visual>
<geometry>
<box size="0.8 .1 .4"/>
</geometry>
<origin rpy="0 0 0" xyz="0 -0.1 0"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.1 0"/>
<geometry>
<box size="0.3 .1 .3"/>
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<link name="left_fingertip">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
<origin/>
</inertial>
<visual>
<geometry>
<box size="0.1 .4 .1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 .4 .1"/>
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<joint name="base_to_left_fingertip" type="prismatic">
<axis xyz="1 0 0"/>
<limit effort="1.0" lower="0" upper="0.3" velocity="0.5"/>
<parent link="base"/>
<child link="left_fingertip"/>
<origin xyz="-0.35 -0.4 0.0"/>
</joint>
<link name="right_fingertip">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
<origin/>
</inertial>
<visual>
<geometry>
<box size="0.1 .4 .1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 .4 .1"/>
</geometry>
<contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
</collision>
</link>
<joint name="base_to_right_fingertip" type="prismatic">
<axis xyz="1 0 0"/>
<limit effort="1.0" lower="-0.3" upper="0.0" velocity="0.5"/>
<parent link="base"/>
<child link="right_fingertip"/>
<origin xyz="0.35 -0.4 -0.0"/>
</joint>
</robot>
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