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Kashu7100 commited on
Commit
e53c5b6
·
1 Parent(s): 77d67a0

update 2f85 col mesh

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Files changed (1) hide show
  1. grippers/robotiq_2f85/2f85.xml +13 -13
grippers/robotiq_2f85/2f85.xml CHANGED
@@ -45,7 +45,7 @@
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  <default class="collision">
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  <geom type="mesh" group="3"/>
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  <default class="pad_sphere">
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- <geom mass="1e-6" type="sphere" size="0.00175" friction="0.65"
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  solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.5 0.5 0.5 1"/>
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  </default>
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  </default>
@@ -88,13 +88,13 @@
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  <geom class="visual" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh" mesh="follower"/>
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  <geom class="visual" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh" material="metal" mesh="tongue"/>
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  <geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh" mesh="follower"/>
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- <!-- <geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh" mesh="tongue"/> -->
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  <body name="left_pad" pos="-0.0377897 -0.103916 -0.0091" quat="1 -1 0 0" >
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- <geom class="pad_sphere" name="left_pad_sphere_1" pos="0.043258 -0.009 0.1165"/>
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- <geom class="pad_sphere" name="left_pad_sphere_2" pos="0.043258 0.009 0.1165"/>
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- <geom class="pad_sphere" name="left_pad_sphere_3" pos="0.043258 0 0.1305"/>
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- <geom class="pad_sphere" name="left_pad_sphere_4" pos="0.043258 -0.009 0.1445"/>
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- <geom class="pad_sphere" name="left_pad_sphere_5" pos="0.043258 0.009 0.1445"/>
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  </body>
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  </body>
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  </body>
@@ -124,14 +124,14 @@
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  <joint name="right_follower_joint" class="follower"/>
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  <geom class="visual" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" material="metal" mesh="tongue"/>
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  <geom class="visual" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" mesh="follower"/>
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- <!-- <geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" mesh="tongue"/> -->
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  <geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" mesh="follower"/>
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  <body name="right_pad" pos="-0.0377897 -0.103916 -0.0091" quat="1 -1 0 0" >
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- <geom class="pad_sphere" name="right_pad_sphere_1" pos="0.043258 -0.009 0.1165"/>
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- <geom class="pad_sphere" name="right_pad_sphere_2" pos="0.043258 0.009 0.1165"/>
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- <geom class="pad_sphere" name="right_pad_sphere_3" pos="0.043258 0 0.1305"/>
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- <geom class="pad_sphere" name="right_pad_sphere_4" pos="0.043258 -0.009 0.1445"/>
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- <geom class="pad_sphere" name="right_pad_sphere_5" pos="0.043258 0.009 0.1445"/>
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  </body>
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  </body>
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  </body>
 
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  <default class="collision">
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  <geom type="mesh" group="3"/>
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  <default class="pad_sphere">
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+ <geom mass="1e-6" type="sphere" size="0.00155" friction="0.65"
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  solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.5 0.5 0.5 1"/>
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  </default>
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  </default>
 
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  <geom class="visual" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh" mesh="follower"/>
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  <geom class="visual" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh" material="metal" mesh="tongue"/>
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  <geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh" mesh="follower"/>
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+ <geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" type="mesh" mesh="tongue"/>
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  <body name="left_pad" pos="-0.0377897 -0.103916 -0.0091" quat="1 -1 0 0" >
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+ <geom class="pad_sphere" name="left_pad_sphere_1" pos="0.044258 -0.009 0.1165"/>
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+ <geom class="pad_sphere" name="left_pad_sphere_2" pos="0.044258 0.009 0.1165"/>
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+ <geom class="pad_sphere" name="left_pad_sphere_3" pos="0.044258 0 0.1305"/>
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+ <geom class="pad_sphere" name="left_pad_sphere_4" pos="0.044258 -0.009 0.1445"/>
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+ <geom class="pad_sphere" name="left_pad_sphere_5" pos="0.044258 0.009 0.1445"/>
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  </body>
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  </body>
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  </body>
 
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  <joint name="right_follower_joint" class="follower"/>
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  <geom class="visual" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" material="metal" mesh="tongue"/>
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  <geom class="visual" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" mesh="follower"/>
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+ <geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" mesh="tongue"/>
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  <geom class="collision" pos="0.0509079 -0.10392 -0.0091" quat="1 -1 0 0" mesh="follower"/>
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  <body name="right_pad" pos="-0.0377897 -0.103916 -0.0091" quat="1 -1 0 0" >
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+ <geom class="pad_sphere" name="right_pad_sphere_1" pos="0.044258 -0.009 0.1165"/>
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+ <geom class="pad_sphere" name="right_pad_sphere_2" pos="0.044258 0.009 0.1165"/>
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+ <geom class="pad_sphere" name="right_pad_sphere_3" pos="0.044258 0 0.1305"/>
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+ <geom class="pad_sphere" name="right_pad_sphere_4" pos="0.044258 -0.009 0.1445"/>
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+ <geom class="pad_sphere" name="right_pad_sphere_5" pos="0.044258 0.009 0.1445"/>
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  </body>
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  </body>
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  </body>