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tune gripper parameters for VR demo

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This commit is contained in:
erwin coumans
2016-09-19 14:31:47 -07:00
parent db3122233f
commit a3aa8ef7f1
4 changed files with 34 additions and 22 deletions
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38
data/pr2_gripper.urdf
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@@ -17,7 +17,7 @@
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
</collision>
<inertial>
<mass value="100"/>
<mass value="0.5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
@@ -32,7 +32,7 @@
<link name="left_gripper">
<contact>
<lateral_friction value="50.0"/>
<lateral_friction value="5.0"/>
<spinning_friction value="0.1"/>
</contact>
<visual>
@@ -41,8 +41,14 @@
<mesh filename="l_finger.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="l_finger_collision.stl" scale=".9 .9 .9"/>
</geometry>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<mass value="0.5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
@@ -54,7 +60,7 @@
<link name="left_tip">
<contact>
<lateral_friction value="50.0"/>
<lateral_friction value="5.0"/>
<spinning_friction value="0.1"/>
</contact>
<visual>
@@ -65,12 +71,12 @@
</visual>
<collision>
<geometry>
<box size=".13 .03 .02"/>
<box size=".03 .03 .02"/>
</geometry>
<origin rpy="0.0 0 0" xyz="0.055 0.00495 0"/>
<origin rpy="0.0 0 0" xyz="0.105 0.00495 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
@@ -85,8 +91,8 @@
<link name="right_gripper">
<contact>
<lateral_friction value="50.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="5.0"/>
<spinning_friction value="0.3"/>
</contact>
<visual>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
@@ -94,6 +100,12 @@
<mesh filename="l_finger.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="l_finger_collision.stl" scale=".9 .9 .9"/>
</geometry>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
@@ -107,8 +119,8 @@
<link name="right_tip">
<contact>
<lateral_friction value="50.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="5.0"/>
<spinning_friction value=".2"/>
</contact>
<visual>
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
@@ -118,9 +130,9 @@
</visual>
<collision>
<geometry>
<box size=".13 .03 .02"/>
<box size=".03 .03 .02"/>
</geometry>
<origin rpy="-3.1415 0 0" xyz="0.055 0.00495 0"/>
<origin rpy="-3.1415 0 0" xyz="0.105 0.00495 0"/>
</collision>
<inertial>
<mass value="0.05"/>