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pr2_gripper.urdf
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<?xml version="1.0"?>
<robot name="physics">
<link name="gripper_pole">
<visual>
<geometry>
<cylinder length="0.2" radius=".01"/>
</geometry>
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
<material name="Gray">
<color rgba=".7 .7 .7 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.2" radius=".01"/>
</geometry>
<origin rpy="0 1.57075 0 " xyz="0.1 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"/>
</inertial>
</link>
<joint name="left_gripper_joint" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="-2.0" upper="2.548" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
<parent link="gripper_pole"/>
<child link="left_gripper"/>
</joint>
<link name="left_gripper">
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="l_finger_collision.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="l_finger_collision.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="left_tip_joint" type="fixed">
<parent link="left_gripper"/>
<child link="left_tip"/>
</joint>
<link name="left_tip">
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<mesh filename="l_finger_tip.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<box size=".03 .01 .02"/>
</geometry>
<origin rpy="0.0 0.0 0" xyz="0.105 -0.005 0"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_gripper_joint" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort="1000.0" lower="-2.0" upper="2." velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
<parent link="gripper_pole"/>
<child link="right_gripper"/>
</joint>
<link name="right_gripper">
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<visual>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="l_finger_collision.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="l_finger_collision.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_tip_joint" type="fixed">
<parent link="right_gripper"/>
<child link="right_tip"/>
</joint>
<link name="right_tip">
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<visual>
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<mesh filename="l_finger_tip.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<box size=".03 .01 .02"/>
</geometry>
<origin rpy="-3.1415 0 0" xyz="0.105 0.015 0"/>
</collision>
<collision>
<geometry>
<box size=".01 .02 .02"/>
</geometry>
<origin rpy="-3.1415 0 -0.5" xyz="0.095 0.005 0"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
</robot>