Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Grasp soft body with rigid fingers.

Browse Source
This commit is contained in:
yunfeibai
2016-11-01 15:46:09 -07:00
parent f01389ded2
commit 9d54f0cf8d
5 changed files with 518 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
data/gripper/wsg50_one_motor_gripper_left_finger.urdf Normal file
View File

@@ -0,0 +1,27 @@
<?xml version="0.0" ?>
<robot name="left_finger.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<inertia_scaling value="3.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.05"/>
<mass value=".2"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 4.71239" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/l_gripper_tip_scaled.stl" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.042"/>
<geometry>
<box size="0.02 0.02 0.15"/>
</geometry>
</collision>
</link>
</robot>