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more tweak in pr2_gripper.urdf (VR), remove some collision meshes (until interaction issues are resolved)

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erwin coumans
2016-09-19 14:40:01 -07:00
parent 3eb149ca75
commit a4165adddc
1 changed files with 3 additions and 13 deletions
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16
data/pr2_gripper.urdf
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@@ -41,12 +41,7 @@
<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="0.5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
@@ -76,7 +71,7 @@
<origin rpy="0.0 0 0" xyz="0.105 0.00495 0"/>
</collision>
<inertial>
<mass value="0.1"/>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
@@ -100,12 +95,7 @@
<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"/>