#VRML_SIM R2022b utf8
# license: Apache License 2.0
# license url: http://www.apache.org/licenses/LICENSE-2.0
# documentation url: https://www.cyberbotics.com/doc/guide/universal_robots
# A 3-finger adaptive robot gripper from ROBOTIQ.
PROTO Robotiq3fGripper [
field SFVec3f translation 0 0.04 0
field SFRotation rotation 0 0 1 0
field SFString name "ROBOTIQ 3f Gripper"
]
{
Solid {
translation IS translation
rotation IS rotation
children [
Shape {
appearance DEF BLACK_METAL PBRAppearance {
baseColor 0 0 0
roughness 0.4
metalness 0
}
geometry IndexedFaceSet {
coord Coordinate {
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}
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}
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RotationalMotor {
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maxPosition 0.192
maxTorque 100.0
}
PositionSensor {
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}
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}
PositionSensor {
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HingeJoint {
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maxPosition -0.0523
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}
PositionSensor {
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}
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]
creaseAngle 0.5
}
}
]
}
]
name "finger_1_link_0"
boundingObject Transform {
translation 0.007 0.006 0
children [
Box {
size 0.04 0.04 0.032
}
]
}
physics Physics {
density -1
mass 0.05
centerOfMass [
0 0 0
]
}
}
}
HingeJoint {
jointParameters HingeJointParameters {
axis 1 0.000796 7e-06
anchor -0.0455 0.0214 -0.036
}
device [
RotationalMotor {
name "palm_finger_2_joint"
maxVelocity 100.0
minPosition -0.192
maxPosition 0.1784
maxTorque 100.0
}
PositionSensor {
name "palm_finger_2_joint_sensor"
}
]
endPoint Solid {
translation -0.0455 0.0214 -0.036
rotation 0.7068252250609627 0.707388225240228 3.0000009552334565e-06 3.141598
children [
HingeJoint {
jointParameters HingeJointParameters {
position 0.0495
axis 0 0 1
anchor 0.02 0 0
}
device [
RotationalMotor {
name "finger_2_joint_1"
maxVelocity 100.0
minPosition 0.0495
maxPosition 1.2218
maxTorque 100.0
}
PositionSensor {
name "finger_2_joint_1_sensor"
}
]
endPoint Solid {
translation 0.02 0 0
children [
HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0.05 -0.028 0
}
device [
RotationalMotor {
name "finger_2_joint_2"
maxVelocity 100.0
maxPosition 1.5708
maxTorque 100.0
}
PositionSensor {
name "finger_2_joint_2_sensor"
}
]
endPoint Solid {
translation 0.05 -0.028 0
rotation 0 0 -1 0.52
children [
HingeJoint {
jointParameters HingeJointParameters {
position -0.0523
axis 0 0 1
anchor 0.039 0 0
}
device [
RotationalMotor {
name "finger_2_joint_3"
maxVelocity 100.0
minPosition -1.2217
maxPosition -0.0523
maxTorque 100.0
}
PositionSensor {
name "finger_2_joint_3_sensor"
}
]
endPoint Solid {
translation 0.039 0 0
children [
USE SHAPE3
]
name "finger_2_link_3"
boundingObject Transform {
translation 0.018 0.00913 0
rotation 0 0 1 0.5202587712816532
children [
Box {
size 0.035 0.018 0.032
}
]
}
physics Physics {
density -1
mass 0.05
centerOfMass [
0 0 0
]
}
}
}
USE SHAPE2
]
name "finger_2_link_2"
boundingObject Transform {
translation 0.02694 -0.00895 0
rotation 0 0 1 6.270629385640825
children [
Box {
size 0.04 0.032 0.032
}
]
}
physics Physics {
density -1
mass 0.15
centerOfMass [
0 0 0
]
}
}
}
USE SHAPE1
]
name "finger_2_link_1"
boundingObject Transform {
translation 0.012315 -0.02039 0
rotation 0 0 -1 0.4673706143591722
children [
Box {
size 0.091 0.038 0.032
}
]
}
physics Physics {
density -1
mass 0.15
centerOfMass [
0 0 0
]
}
}
}
USE SHAPE0
]
name "finger_2_link_0"
boundingObject Transform {
translation 0.007 0.006 0
children [
Box {
size 0.04 0.04 0.032
}
]
}
physics Physics {
density -1
mass 0.05
centerOfMass [
0 0 0
]
}
}
}
Transform {
translation 0.0455 0.0214 0
rotation 0 0 1 1.57
children [
HingeJoint {
jointParameters HingeJointParameters {
position 0.0495
axis 0 0 1
anchor 0.02 0 0
}
device [
RotationalMotor {
name "finger_middle_joint_1"
maxVelocity 100.0
minPosition 0.0495
maxPosition 1.2218
maxTorque 100.0
}
PositionSensor {
name "finger_middle_joint_1_sensor"
}
]
endPoint Solid {
translation 0.02 0 0
children [
HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0.05 -0.028 0
}
device [
RotationalMotor {
name "finger_middle_joint_2"
maxVelocity 100.0
maxPosition 1.5708
maxTorque 100.0
}
PositionSensor {
name "finger_middle_joint_2_sensor"
}
]
endPoint Solid {
translation 0.05 -0.028 0
rotation 0 0 -1 0.52
children [
HingeJoint {
jointParameters HingeJointParameters {
position -0.0523
axis 0 0 1
anchor 0.039 0 0
}
device [
RotationalMotor {
name "finger_middle_joint_3"
maxVelocity 100.0
minPosition -1.2217
maxPosition -0.0523
maxTorque 100.0
}
PositionSensor {
name "finger_middle_joint_3_sensor"
}
]
endPoint Solid {
translation 0.039 0 0
children [
USE SHAPE3
]
name "finger_middle_link_3"
boundingObject Transform {
translation 0.018 0.00913 0
rotation 0 0 1 0.5202587712816532
children [
Box {
size 0.035 0.018 0.032
}
]
}
physics Physics {
density -1
mass 0.05
centerOfMass [
0 0 0
]
}
}
}
USE SHAPE2
]
name "finger_middle_link_2"
boundingObject Transform {
translation 0.02694 -0.008952 0
rotation 0 0 1 6.270629385640825
children [
Box {
size 0.04 0.032 0.032
}
]
}
physics Physics {
density -1
mass 0.15
centerOfMass [
0 0 0
]
}
}
}
USE SHAPE1
]
name "finger_middle_link_1"
boundingObject Transform {
translation 0.01231 -0.02039 0
rotation 0 0 -1 0.4673706143591722
children [
Box {
size 0.091 0.038 0.032
}
]
}
physics Physics {
density -1
mass 0.15
centerOfMass [
0 0 0
]
}
}
}
USE SHAPE0
]
}
]
name IS name
boundingObject Group {
children [
Transform {
translation 0 -0.029 0
children [
Cylinder {
height 0.05
radius 0.023
}
]
}
Transform {
translation 0 0.005 0
children [
Box {
size 0.126 0.093 0.13
}
]
}
]
}
physics Physics {
density -1
mass 1
centerOfMass [
0 0 0
]
}
}
}