From 64743122690da708353980fdd4923af6ed45b688 Mon Sep 17 00:00:00 2001 From: Benjamin Deleze Date: Tue, 3 Oct 2023 11:55:28 +0200 Subject: [PATCH] Robotiq coupling link --- .../protos/TiagoRobotiqGripper.proto | 9 ++++----- .../protos/meshes/pal_robotiq_coupling.stl | Bin 0 -> 404284 bytes 2 files changed, 4 insertions(+), 5 deletions(-) create mode 100644 projects/robots/pal_robotics/tiago_extensions/protos/meshes/pal_robotiq_coupling.stl diff --git a/projects/robots/pal_robotics/tiago_extensions/protos/TiagoRobotiqGripper.proto b/projects/robots/pal_robotics/tiago_extensions/protos/TiagoRobotiqGripper.proto index c94ffe5039f..7f8bff87766 100644 --- a/projects/robots/pal_robotics/tiago_extensions/protos/TiagoRobotiqGripper.proto +++ b/projects/robots/pal_robotics/tiago_extensions/protos/TiagoRobotiqGripper.proto @@ -12,7 +12,7 @@ EXTERNPROTO "webots://projects/devices/robotiq/protos/Robotiq2f140Gripper.proto" EXTERNPROTO "webots://projects/devices/robotiq/protos/RobotiqEPickGripper.proto" PROTO TiagoRobotiqGripper [ - field SFVec3f translation 0 0.013 0 + field SFVec3f translation 0 0.032 0 field SFRotation rotation 0 0.7071 0.7071 3.14159 field SFString{"2F-85", "2F-140", "EPick"} model "2F-85" field SFString{"front", "left", "right"} side "front" @@ -42,12 +42,11 @@ PROTO TiagoRobotiqGripper [ rotation IS rotation children [ DEF COUPLING Pose { - translation 0 0 -0.0041 + translation 0 -0.0003 -0.0117 children [ Shape { - geometry Cylinder { - height 0.0082 - radius 0.023 + geometry Mesh { + url "meshes/pal_robotiq_coupling.stl" } appearance DEF BLACK_METAL PBRAppearance { baseColor 0 0 0 diff --git a/projects/robots/pal_robotics/tiago_extensions/protos/meshes/pal_robotiq_coupling.stl b/projects/robots/pal_robotics/tiago_extensions/protos/meshes/pal_robotiq_coupling.stl new file mode 100644 index 0000000000000000000000000000000000000000..a6f5ea13fb058075c82b7000bb81aad58bf3a645 GIT binary patch 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