I'm using the Bullt3. I also tested this in Gazebo, which works without problem.
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related URDF part of gripper:
Code: Select all
<link name="finger_1_1">
<inertial>
<origin xyz="-0.015875 -0.009000 -0.071550"/>
<mass value="0.1"/>
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
</inertial>
<visual>
<material name="red">
<color rgba="1 0 0 1.0"/>
</material>
<origin xyz="-0.015875 -0.009000 -0.071550"/>
<geometry>
<mesh filename="proximal_t42.STL" scale="0.025400 0.025400 0.025400"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.015875 -0.009000 -0.071550"/>
<geometry>
<mesh filename="proximal_t42.STL" scale="0.025400 0.025400 0.025400"/>
</geometry>
</collision>
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="1.0"/>
<stiffness value="30000"/>
<damping value="1"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
<spinning_friction value=".001"/>
</contact>
</link>
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<robot name="cyl">
<link name="cyl_object">
<inertial>
<mass value="0.1" />
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
<visual>
<geometry>
<cylinder length="0.1" radius="0.025"/>
</geometry>
<material name="Blue" />
</visual>
<collision>
<geometry>
<cylinder length="0.1" radius="0.025"/>
</geometry>
</collision>
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="1.0"/>
<stiffness value="30000"/>
<damping value="0"/>
<!-- <contact_cfm value="0.0"/>
<contact_erp value="1.0"/> -->
<spinning_friction value=".001"/>
</contact>
</link>
</robot>