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<?xml version="1.0"?> |
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<robot name="panda_gripper"> |
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<link name="panda_hand"> |
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<visual> |
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<geometry> |
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<mesh filename="meshes/visual/hand.glb"/> |
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</geometry> |
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</visual> |
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<collision> |
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<origin rpy="1.570795 0 0" xyz="0 0 0.02617"/> |
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<geometry> |
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<box size="0.036 0.08 0.2"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0.0003"/> |
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<geometry> |
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<cylinder radius="0.03" length="0.0077"/> |
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</geometry> |
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</collision> |
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<inertial> |
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<origin rpy="0 0 0" xyz="-0.01 0 0.03"/> |
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<mass value="0.73"/> |
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"/> |
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</inertial> |
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</link> |
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<link name="panda_hand_tcp"/> |
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<joint name="panda_hand_tcp_joint" type="fixed"> |
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<origin rpy="0 0 0" xyz="0 0 0.1034"/> |
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<parent link="panda_hand"/> |
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<child link="panda_hand_tcp"/> |
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</joint> |
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<link name="panda_leftfinger"> |
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<visual> |
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<geometry> |
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<mesh filename="meshes/visual/finger.glb"/> |
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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 18.5e-3 11e-3"/> |
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<geometry> |
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<box size="22e-3 15e-3 20e-3"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 6.8e-3 2.2e-3"/> |
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<geometry> |
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<box size="22e-3 8.8e-3 3.8e-3"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin rpy="0.5235987755982988 0 0" xyz="0 15.9e-3 28.35e-3"/> |
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<geometry> |
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<box size="17.5e-3 7e-3 23.5e-3"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 7.58e-3 45.25e-3"/> |
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<geometry> |
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<box size="17.5e-3 15.2e-3 18.5e-3"/> |
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</geometry> |
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</collision> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<mass value="0.015"/> |
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<inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" |
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iyz="0" izz="7.5e-07"/> |
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</inertial> |
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</link> |
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<link name="panda_rightfinger"> |
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<visual> |
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<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/visual/finger.glb"/> |
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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 -18.5e-3 11e-3"/> |
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<geometry> |
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<box size="22e-3 15e-3 20e-3"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 -6.8e-3 2.2e-3"/> |
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<geometry> |
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<box size="22e-3 8.8e-3 3.8e-3"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin rpy="-0.5235987755982988 0 0" xyz="0 -15.9e-3 28.35e-3"/> |
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<geometry> |
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<box size="17.5e-3 7e-3 23.5e-3"/> |
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</geometry> |
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</collision> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 -7.58e-3 45.25e-3"/> |
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<geometry> |
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<box size="17.5e-3 15.2e-3 18.5e-3"/> |
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</geometry> |
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</collision> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<mass value="0.015"/> |
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<inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" |
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iyz="0" izz="7.5e-07"/> |
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</inertial> |
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</link> |
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<joint name="panda_finger_joint1" type="prismatic"> |
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<parent link="panda_hand"/> |
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<child link="panda_leftfinger"/> |
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<origin rpy="0 0 0" xyz="0 0 0.0584"/> |
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<axis xyz="0 1 0"/> |
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<limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/> |
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<dynamics damping="0.3"/> |
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</joint> |
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<joint name="panda_finger_joint2" type="prismatic"> |
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<parent link="panda_hand"/> |
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<child link="panda_rightfinger"/> |
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<origin rpy="0 0 0" xyz="0 0 0.0584"/> |
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<axis xyz="0 -1 0"/> |
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<limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/> |
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<mimic joint="panda_finger_joint1" multiplier="1" offset="0"/> |
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<dynamics damping="0.3"/> |
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</joint> |
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</robot> |
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