gripper.urdf

<?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>