diff options
Diffstat (limited to 'data/gripper/wsg50_one_motor_gripper_new.sdf')
| -rw-r--r-- | data/gripper/wsg50_one_motor_gripper_new.sdf | 54 |
1 files changed, 27 insertions, 27 deletions
diff --git a/data/gripper/wsg50_one_motor_gripper_new.sdf b/data/gripper/wsg50_one_motor_gripper_new.sdf index 54f469fe0..09e43dc22 100644 --- a/data/gripper/wsg50_one_motor_gripper_new.sdf +++ b/data/gripper/wsg50_one_motor_gripper_new.sdf @@ -2,7 +2,7 @@ <sdf version='1.6'> <world name='default'> <model name='wsg50_with_gripper'> - <pose frame=''>0 0 0.7 3.14 0 0</pose> + <pose>0 0 0.7 3.14 0 0</pose> <link name='world'> </link> @@ -28,9 +28,9 @@ </joint> <link name='base_link'> - <pose frame=''>0 0 0 0 0 0</pose> + <pose>0 0 0 0 0 0</pose> <inertial> - <pose frame=''>0 0 0 0 0 0</pose> + <pose>0 0 0 0 0 0</pose> <mass>1.2</mass> <inertia> <ixx>1</ixx> @@ -43,7 +43,7 @@ </inertial> <visual name='base_link_visual'> - <pose frame=''>0 0 0 0 -0 0</pose> + <pose>0 0 0 0 -0 0</pose> <geometry> <mesh> <scale>1 1 1</scale> @@ -58,9 +58,9 @@ </link> <link name='motor'> - <pose frame=''>0 0 0.03 0 0 0</pose> + <pose>0 0 0.03 0 0 0</pose> <inertial> - <pose frame=''>0 0 0 0 0 0</pose> + <pose>0 0 0 0 0 0</pose> <mass>0.1</mass> <inertia> <ixx>0.1</ixx> @@ -72,7 +72,7 @@ </inertia> </inertial> <visual name='motor_visual'> - <pose frame=''>0 0 0.01 0 0 0</pose> + <pose>0 0 0.01 0 0 0</pose> <geometry> <box> <size>0.02 0.02 0.02 </size> @@ -102,9 +102,9 @@ </joint> <link name='left_hinge'> - <pose frame=''>0 0 0.04 0 0 0</pose> + <pose>0 0 0.04 0 0 0</pose> <inertial> - <pose frame=''>0 0 0.035 0 0 0</pose> + <pose>0 0 0.035 0 0 0</pose> <mass>0.1</mass> <inertia> <ixx>0.1</ixx> @@ -116,7 +116,7 @@ </inertia> </inertial> <visual name='motor_visual'> - <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose> + <pose>-0.03 0 0.01 0 -1.2 0</pose> <geometry> <box> <size>0.02 0.02 0.07 </size> @@ -147,9 +147,9 @@ </joint> <link name='right_hinge'> - <pose frame=''>0 0 0.04 0 0 0</pose> + <pose>0 0 0.04 0 0 0</pose> <inertial> - <pose frame=''>0 0 0.035 0 0 0</pose> + <pose>0 0 0.035 0 0 0</pose> <mass>0.1</mass> <inertia> <ixx>0.1</ixx> @@ -161,7 +161,7 @@ </inertia> </inertial> <visual name='motor_visual'> - <pose frame=''>0.03 0 0.01 0 1.2 0</pose> + <pose>0.03 0 0.01 0 1.2 0</pose> <geometry> <box> <size>0.02 0.02 0.07 </size> @@ -192,9 +192,9 @@ </joint> <link name='gripper_left'> - <pose frame=''>-0.055 0 0.06 0 -0 0</pose> + <pose>-0.055 0 0.06 0 -0 0</pose> <inertial> - <pose frame=''>0 0 0.0115 0 -0 0</pose> + <pose>0 0 0.0115 0 -0 0</pose> <mass>0.2</mass> <inertia> <ixx>0.1</ixx> @@ -207,7 +207,7 @@ </inertial> <visual name='gripper_left_visual'> - <pose frame=''>0 0 -0.06 0 0 0</pose> + <pose>0 0 -0.06 0 0 0</pose> <geometry> <mesh> <scale>0.001 0.001 0.001</scale> @@ -216,7 +216,7 @@ </geometry> </visual> <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'> - <pose frame=''>0 0 -0.037 0 0 0</pose> + <pose>0 0 -0.037 0 0 0</pose> <geometry> <mesh> <scale>0.001 0.001 0.001</scale> @@ -248,9 +248,9 @@ </joint> <link name='gripper_right'> - <pose frame=''>0.055 0 0.06 0 0 3.14159</pose> + <pose>0.055 0 0.06 0 0 3.14159</pose> <inertial> - <pose frame=''>0 0 0.0115 0 -0 0</pose> + <pose>0 0 0.0115 0 -0 0</pose> <mass>0.2</mass> <inertia> <ixx>0.1</ixx> @@ -263,7 +263,7 @@ </inertial> <visual name='gripper_right_visual'> - <pose frame=''>0 0 -0.06 0 0 0</pose> + <pose>0 0 -0.06 0 0 0</pose> <geometry> <mesh> <scale>0.001 0.001 0.001</scale> @@ -272,7 +272,7 @@ </geometry> </visual> <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'> - <pose frame=''>0 0 -0.037 0 0 0</pose> + <pose>0 0 -0.037 0 0 0</pose> <geometry> <mesh> <scale>0.001 0.001 0.001</scale> @@ -307,7 +307,7 @@ <spinning_friction>.3</spinning_friction> <rolling_friction>0.04</rolling_friction> </contact> - <pose frame=''>0.062 0 0.145 0 0 1.5708</pose> + <pose>0.062 0 0.145 0 0 1.5708</pose> <inertial> <mass>0.2</mass> <inertia> @@ -321,7 +321,7 @@ </inertial> <collision name='finger_right_collision'> - <pose frame=''>0 0 0.042 0 0 0 </pose> + <pose>0 0 0.042 0 0 0 </pose> <geometry> <box> <size>0.02 0.02 0.15 </size> @@ -331,7 +331,7 @@ </collision> <visual name='finger_right_visual'> - <pose frame=''>0 0 0 0 0 0 </pose> + <pose>0 0 0 0 0 0 </pose> <geometry> <mesh> <scale>1 1 1 </scale> @@ -351,7 +351,7 @@ <spinning_friction>.3</spinning_friction> <rolling_friction>0.04</rolling_friction> </contact> - <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose> + <pose>-0.062 0 0.145 0 0 4.71239</pose> <inertial> <mass>0.2</mass> <inertia> @@ -365,7 +365,7 @@ </inertial> <collision name='finger_left_collision'> - <pose frame=''>0 0 0.042 0 0 0 </pose> + <pose>0 0 0.042 0 0 0 </pose> <geometry> <box> <size>0.02 0.02 0.15 </size> @@ -375,7 +375,7 @@ </collision> <visual name='finger_left_visual'> - <pose frame=''>0 0 0 0 0 0 </pose> + <pose>0 0 0 0 0 0 </pose> <geometry> <mesh> <scale>1 1 1 </scale> |