Grasp soft body with rigid fingers.
This commit is contained in:
yunfeibai
27
data/gripper/wsg50_one_motor_gripper_left_finger.urdf
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27
data/gripper/wsg50_one_motor_gripper_left_finger.urdf
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<?xml version="0.0" ?>
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<robot name="left_finger.urdf">
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<link name="baseLink">
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<contact>
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<lateral_friction value="1.0"/>
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<inertia_scaling value="3.0"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.05"/>
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<mass value=".2"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 4.71239" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/l_gripper_tip_scaled.stl" scale="1 1 1"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.042"/>
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<geometry>
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<box size="0.02 0.02 0.15"/>
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</geometry>
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</collision>
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</link>
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</robot>
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307
data/gripper/wsg50_one_motor_gripper_no_finger.sdf
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307
data/gripper/wsg50_one_motor_gripper_no_finger.sdf
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<?xml version="1.0" ?>
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<sdf version='1.6'>
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<world name='default'>
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<model name='wsg50_with_gripper'>
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<pose frame=''>0 0 0.4 3.14 0 0</pose>
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<link name='world'>
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</link>
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<joint name='base_joint' type='prismatic'>
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<parent>world</parent>
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<child>base_link</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-10</lower>
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<upper>10</upper>
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<effort>1</effort>
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<velocity>1</velocity>
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</limit>
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<dynamics>
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<damping>0</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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</axis>
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</joint>
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<link name='base_link'>
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<pose frame=''>0 0 0 0 0 0</pose>
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<inertial>
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<pose frame=''>0 0 0 0 0 0</pose>
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<mass>1.2</mass>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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</inertial>
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<visual name='base_link_visual'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>meshes/WSG50_110.stl</uri>
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</mesh>
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</geometry>
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<material>
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</material>
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</visual>
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</link>
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<link name='motor'>
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<pose frame=''>0 0 0.03 0 0 0</pose>
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<inertial>
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<pose frame=''>0 0 0 0 0 0</pose>
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<mass>0.1</mass>
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<inertia>
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<ixx>0.1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.1</iyy>
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<iyz>0</iyz>
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<izz>0.1</izz>
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</inertia>
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</inertial>
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<visual name='motor_visual'>
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<pose frame=''>0 0 0.01 0 0 0</pose>
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<geometry>
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<box>
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<size>0.02 0.02 0.02 </size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name='base_joint_motor' type='prismatic'>
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<child>motor</child>
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<parent>base_link</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-0.055</lower>
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<upper>0.001</upper>
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<effort>10.0</effort>
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<velocity>10.0</velocity>
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</limit>
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<dynamics>
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<damping>0</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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</axis>
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</joint>
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<link name='left_hinge'>
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<pose frame=''>0 0 0.04 0 0 0</pose>
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<inertial>
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<pose frame=''>0 0 0.035 0 0 0</pose>
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<mass>0.1</mass>
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<inertia>
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<ixx>0.1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.1</iyy>
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<iyz>0</iyz>
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<izz>0.1</izz>
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</inertia>
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</inertial>
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<visual name='motor_visual'>
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<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
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<geometry>
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<box>
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<size>0.02 0.02 0.07 </size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name='motor_left_hinge_joint' type='revolute'>
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<child>left_hinge</child>
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<parent>motor</parent>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<lower>-20.0</lower>
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<upper>20.0</upper>
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<effort>10</effort>
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<velocity>10</velocity>
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</limit>
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<dynamics>
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<damping>0</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>0</use_parent_model_frame>
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</axis>
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</joint>
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<link name='right_hinge'>
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<pose frame=''>0 0 0.04 0 0 0</pose>
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<inertial>
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<pose frame=''>0 0 0.035 0 0 0</pose>
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<mass>0.1</mass>
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<inertia>
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<ixx>0.1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.1</iyy>
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<iyz>0</iyz>
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<izz>0.1</izz>
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</inertia>
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</inertial>
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<visual name='motor_visual'>
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<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
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<geometry>
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<box>
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<size>0.02 0.02 0.07 </size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name='motor_right_hinge_joint' type='revolute'>
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<child>right_hinge</child>
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<parent>motor</parent>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<lower>-20.0</lower>
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<upper>20.0</upper>
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<effort>10</effort>
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<velocity>10</velocity>
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</limit>
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<dynamics>
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<damping>0</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>0</use_parent_model_frame>
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</axis>
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</joint>
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<link name='gripper_left'>
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<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
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<inertial>
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<pose frame=''>0 0 0.0115 0 -0 0</pose>
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<mass>0.2</mass>
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<inertia>
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<ixx>0.1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.1</iyy>
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<iyz>0</iyz>
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<izz>0.1</izz>
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</inertia>
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</inertial>
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<visual name='gripper_left_visual'>
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<pose frame=''>0 0 -0.06 0 0 0</pose>
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<geometry>
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<mesh>
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<scale>0.001 0.001 0.001</scale>
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<uri>meshes/GUIDE_WSG50_110.stl</uri>
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</mesh>
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</geometry>
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</visual>
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<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
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<pose frame=''>0 0 -0.037 0 0 0</pose>
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<geometry>
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<mesh>
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<scale>0.001 0.001 0.001</scale>
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<uri>meshes/WSG-FMF.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='gripper_left_hinge_joint' type='prismatic'>
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<child>gripper_left</child>
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<parent>base_link</parent>
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<axis>
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<xyz>1 0 0</xyz>
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<limit>
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<lower>-0.01</lower>
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<upper>0.04</upper>
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<effort>1</effort>
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<velocity>1</velocity>
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</limit>
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<dynamics>
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<damping>0</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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</axis>
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</joint>
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<link name='gripper_right'>
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<pose frame=''>0.055 0 0.06 0 0 0</pose>
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<inertial>
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<pose frame=''>0 0 0.0115 0 -0 0</pose>
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<mass>0.2</mass>
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<inertia>
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<ixx>0.1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.1</iyy>
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<iyz>0</iyz>
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<izz>0.1</izz>
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</inertia>
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</inertial>
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<visual name='gripper_right_visual'>
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<pose frame=''>0 0 -0.06 0 0 3.14159</pose>
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<geometry>
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<mesh>
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<scale>0.001 0.001 0.001</scale>
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<uri>meshes/GUIDE_WSG50_110.stl</uri>
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</mesh>
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</geometry>
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</visual>
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<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
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<pose frame=''>0 0 -0.037 0 0 3.14159</pose>
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<geometry>
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<mesh>
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<scale>0.001 0.001 0.001</scale>
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<uri>meshes/WSG-FMF.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='gripper_right_hinge_joint' type='prismatic'>
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<child>gripper_right</child>
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<parent>base_link</parent>
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<axis>
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<xyz>1 0 0</xyz>
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<limit>
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<lower>-0.04</lower>
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<upper>0.01</upper>
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<effort>1</effort>
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<velocity>1</velocity>
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</limit>
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<dynamics>
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<damping>0</damping>
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<friction>0</friction>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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</axis>
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</joint>
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</model>
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</world>
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</sdf>
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27
data/gripper/wsg50_one_motor_gripper_right_finger.urdf
Normal file
27
data/gripper/wsg50_one_motor_gripper_right_finger.urdf
Normal file
@@ -0,0 +1,27 @@
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<?xml version="0.0" ?>
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<robot name="right_finger.urdf">
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<link name="baseLink">
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<contact>
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<lateral_friction value="1.0"/>
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<inertia_scaling value="3.0"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0.05"/>
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<mass value=".2"/>
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 1.5708" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/l_gripper_tip_scaled.stl" scale="1 1 1"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.042"/>
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<geometry>
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<box size="0.02 0.02 0.15"/>
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</geometry>
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</collision>
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</link>
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</robot>
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