add robotics learning grasp contact example
add wsg50 gripper with modified r2d2 gripper tip expose a fudge factor to scale inertia, to make grasping more stable (until we have better grasping contact model/implementation)
This commit is contained in:
Erwin Coumans
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data/gripper/meshes/GUIDE_WSG50_110.stl
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data/gripper/meshes/GUIDE_WSG50_110.stl
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data/gripper/meshes/WSG-FMF.stl
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data/gripper/meshes/WSG-FMF.stl
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data/gripper/meshes/WSG50_110.stl
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data/gripper/meshes/WSG50_110.stl
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data/gripper/meshes/l_gripper_tip_scaled.stl
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data/gripper/meshes/l_gripper_tip_scaled.stl
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data/gripper/wsg50_with_r2d2_gripper.sdf
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data/gripper/wsg50_with_r2d2_gripper.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 0.27 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>-0.5</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>100</damping>
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<friction>100</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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<collision name='base_link_collision'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.2 0.05 0.05 </size>
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</box>
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</geometry>
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</collision>
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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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<gravity>1</gravity>
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<velocity_decay/>
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<self_collide>0</self_collide>
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</link>
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<link name='gripper_left'>
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<pose frame=''>-0.055 0 0 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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<collision name='gripper_left_collision'>
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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>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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</collision>
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<collision name='gripper_left_fixed_joint_lump__finger_left_collision_1'>
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<pose frame=''>0 0 0.023 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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</collision>
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<visual name='gripper_left_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>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 0.023 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='base_joint_gripper_left' 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>-0.001</lower>
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<upper>0.055</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>100</damping>
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<friction>100</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 0 -0 3.14159</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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<collision name='gripper_right_collision'>
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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>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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</collision>
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<collision name='gripper_right_fixed_joint_lump__finger_right_collision_1'>
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<pose frame=''>0 0 0.023 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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</collision>
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<visual name='gripper_right_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>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 0.023 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='base_joint_gripper_right' 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>-0.055</lower>
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<upper>0.001</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>100</damping>
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<friction>100</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='finger_right'>
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<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
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<inertial>
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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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<collision name='finger_right_collision'>
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<pose frame=''>0 0 0.042 0 0 0 </pose>
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<geometry>
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<box>
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<size>0.02 0.02 0.15 </size>
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</box>
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</geometry>
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</collision>
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<visual name='finger_right_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/l_gripper_tip_scaled.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_finger_right' type='fixed'>
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<parent>gripper_right</parent>
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<child>finger_right</child>
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</joint>
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<link name='finger_left'>
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<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
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<inertial>
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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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<collision name='finger_left_collision'>
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<pose frame=''>0 0 0.042 0 0 0 </pose>
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<geometry>
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<box>
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<size>0.02 0.02 0.15 </size>
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</box>
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</geometry>
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</collision>
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<visual name='finger_left_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/l_gripper_tip_scaled.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_finger_left' type='fixed'>
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<parent>gripper_left</parent>
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<child>finger_left</child>
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</joint>
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</model>
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</world>
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</sdf>
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