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Grip tool SDF

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brothermechanic 2023-06-18 17:35:09 +00:00 • committed by Igor Brylyov
parent cccd99c774
commit ddf7f113a0
12 changed files with 204 additions and 0 deletions
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*.stl filter=lfs diff=lfs merge=lfs -text
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sdf/grip_tool/meshes/grip_tool_grip1.dae Normal file
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sdf/grip_tool/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>grip_tool</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>brothermechanic</name>
<email>brothermechanic@gmail.com</email>
</author>
<description>
Grip Tool
</description>
</model>

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sdf/grip_tool/model.sdf Normal file
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<?xml version="1.0"?>
<!-- created with Phobos 1.0.1 "Capricious Choutengan" -->
<sdf version="1.6">
<model name="grip_tool">
<link name="root">
<pose>0 0 0 0 0 0</pose>
<collision name="grip_tool_root">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://grip_tool/meshes/grip_tool_root.dae</uri>
<scale>1.0 1.0 1.0</scale>
</mesh>
</geometry>
</collision>
<visual name="grip_tool_root">
<pose>0.0 0.0 0.0 0.0 -0.0 0.0</pose>
<material>
<ambient>0.8 0.8 0.8 1.0</ambient>
<diffuse>0.8 0.8 0.8 1.0</diffuse>
<specular>0.5 0.5 0.5 1.0</specular>
</material>
<geometry>
<mesh>
<uri>model://grip_tool/meshes/grip_tool_root.dae</uri>
<scale>1.0 1.0 1.0</scale>
</mesh>
</geometry>
</visual>
</link>
<link name="link_grip_tool_tool">
<pose>0 0 0.1095 0 0 0</pose>
<collision name="grip_tool_tool">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>model://grip_tool/meshes/grip_tool_tool.dae</uri>
<scale>1.0 1.0 1.0</scale>
</mesh>
</geometry>
</collision>
<visual name="grip_tool_tool">
<pose>0.0 0.0 0.0 0.0 -0.0 0.0</pose>
<material>
<ambient>0.8 0.8 0.8 1.0</ambient>
<diffuse>0.8 0.8 0.8 1.0</diffuse>
<specular>0.5 0.5 0.5 1.0</specular>
</material>
<geometry>
<mesh>
<uri>model://grip_tool/meshes/grip_tool_tool.dae</uri>
<scale>1.0 1.0 1.0</scale>
</mesh>
</geometry>
</visual>
</link>
<link name="link_grip_tool_grip1">
<pose>0.068 0.02375 0.1145 0 1.5708 0</pose>
<collision name="grip_tool_grip1">
<pose>0 0 0 0 -1.5708 0</pose>
<geometry>
<mesh>
<uri>model://grip_tool/meshes/grip_tool_grip1.dae</uri>
<scale>1.0 1.0 1.0</scale>
</mesh>
</geometry>
</collision>
<visual name="grip_tool_grip1">
<pose>-2.3167228135889673e-09 0.0 0.0 -0.0 -1.570796251296997 0.0</pose>
<material>
<ambient>0.8 0.8 0.8 1.0</ambient>
<diffuse>0.8 0.8 0.8 1.0</diffuse>
<specular>0.5 0.5 0.5 1.0</specular>
</material>
<geometry>
<mesh>
<uri>model://grip_tool/meshes/grip_tool_grip1.dae</uri>
<scale>1.0 1.0 1.0</scale>
</mesh>
</geometry>
</visual>
</link>
<link name="link_grip_tool_grip2">
<pose>-0.068 -0.02375 0.1145 3.14159 1.5708 0</pose>
<collision name="grip_tool_grip2">
<pose>0 0 0 0 -1.5708 0</pose>
<geometry>
<mesh>
<uri>model://grip_tool/meshes/grip_tool_grip1.dae</uri>
<scale>1.0 1.0 1.0</scale>
</mesh>
</geometry>
</collision>
<visual name="grip_tool_grip2">
<pose>1.661072168701594e-09 0.0 0.0 -1.7021841970882648e-14 -1.5707961320877075 0.0</pose>
<material>
<ambient>0.8 0.8 0.8 1.0</ambient>
<diffuse>0.8 0.8 0.8 1.0</diffuse>
<specular>0.5 0.5 0.5 1.0</specular>
</material>
<geometry>
<mesh>
<uri>model://grip_tool/meshes/grip_tool_grip1.dae</uri>
<scale>1.0 1.0 1.0</scale>
</mesh>
</geometry>
</visual>
</link>
<joint name="link_grip_tool_tool" type="revolute">
<parent>root</parent>
<child>link_grip_tool_tool</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0 0 1.0</xyz>
<limit>
<lower></lower>
<upper></upper>
<effort>2.0</effort>
<velocity>1.0</velocity>
</limit>
</axis>
</joint>
<joint name="link_grip_tool_grip1" type="prismatic">
<parent>link_grip_tool_tool</parent>
<child>link_grip_tool_grip1</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0 0 1.0</xyz>
<limit>
<lower>-0.05</lower>
<upper>0</upper>
<effort>2.0</effort>
<velocity>1.0</velocity>
</limit>
</axis>
</joint>
<joint name="link_grip_tool_grip2" type="prismatic">
<parent>link_grip_tool_tool</parent>
<child>link_grip_tool_grip2</child>
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<axis>
<xyz>0 0 1.0</xyz>
<limit>
<lower>-0.05</lower>
<upper>0</upper>
<effort>2.0</effort>
<velocity>1.0</velocity>
</limit>
</axis>
</joint>
</model>
</sdf>

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