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