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[wsg_50_description] Move related Drake files into here
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Copied from Drake as of e41e11f5.

Both locations had a README.md, so here we concatenated the two.
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@jwnimmer-tri
jwnimmer-tri committed Mar 29, 2024
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8 changes: 6 additions & 2 deletions wsg_50_description/README.md
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# Schunk WSG50 Meshes

This folder contains a model of the Schunk WSG 50 gripper.

Is was created from scratch for use in Drake, and is not based on any other
original SDFormat file from somewhere else.

## Attribution

All files under `./meshes` were created in CAD using Schunk's drawing
Expand All @@ -12,6 +17,5 @@ exported from Solidworks using the CAD files.

## Disclaimer

As this is only based on Schunk's drawing files (not the CAD file), the dimensions of the model are accurate only up to the published dimensions in the drawing. Some details such as hole dimensions may not be entirely accurate.

As this is only based on Schunk's drawing files (not the CAD file), the dimensions of the model are accurate only up to the published dimensions in the drawing. Some details such as hole dimensions may not be entirely accurate.

288 changes: 288 additions & 0 deletions wsg_50_description/sdf/schunk_wsg_50.sdf
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<?xml version="1.0"?>
<sdf version="1.7">
<model name="Schunk_Gripper">
<link name="body">
<pose>0 -0.049133 0 0 0 0</pose>
<inertial>
<mass>0.988882</mass>
<inertia>
<ixx>0.162992</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.162992</iyy>
<iyz>0</iyz>
<izz>0.164814</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<box>
<size>0.146 0.0725 0.049521</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.146 0.0725 0.049521</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<frame name="body_frame">
<pose relative_to="body"/>
</frame>
<link name="left_finger">
<pose>-0.008 0.025 0 0 0 0</pose>
<inertial>
<mass>0.05</mass>
<inertia>
<ixx>0.16</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16</iyy>
<iyz>0</iyz>
<izz>0.16</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<box>
<size>0.016 0.075 0.02</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.016 0.075 0.02</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<link name="right_finger">
<pose>0.008 0.025 0 0 0 0</pose>
<inertial>
<mass>0.05</mass>
<inertia>
<ixx>0.16</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16</iyy>
<iyz>0</iyz>
<izz>0.16</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<box>
<size>0.016 0.075 0.02</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>0.01 0.01 0.01 1</specular>
<emissive>0 0 0 1</emissive>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.016 0.075 0.02</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1</mu>
<mu2>1</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
<torsional>
<coefficient>1</coefficient>
<patch_radius>0</patch_radius>
<surface_radius>0</surface_radius>
<use_patch_radius>1</use_patch_radius>
<ode>
<slip>0</slip>
</ode>
</torsional>
</friction>
<bounce>
<restitution_coefficient>0</restitution_coefficient>
<threshold>1e+06</threshold>
</bounce>
<contact>
<collide_without_contact>0</collide_without_contact>
<collide_without_contact_bitmask>1</collide_without_contact_bitmask>
<collide_bitmask>1</collide_bitmask>
<ode>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0</min_depth>
</ode>
<bullet>
<split_impulse>1</split_impulse>
<split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+13</kp>
<kd>1</kd>
</bullet>
</contact>
</surface>
</collision>
</link>
<joint name="left_finger_sliding_joint" type="prismatic">
<parent>body</parent>
<child>left_finger</child>
<axis>
<xyz>1 0 0</xyz>
<!-- Drake attaches an actuator to all and only joints with a nonzero
effort limit. -->
<limit>
<lower>-0.055</lower>
<upper>0</upper>
<effort>80</effort>
<stiffness>15000</stiffness>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
<friction>0</friction>
</dynamics>
</axis>
</joint>
<joint name="right_finger_sliding_joint" type="prismatic">
<parent>body</parent>
<child>right_finger</child>
<axis>
<xyz>1 0 0</xyz>
<!-- Drake attaches an actuator to all and only joints with a nonzero
effort limit. -->
<limit>
<lower>0</lower>
<upper>0.055</upper>
<effort>80</effort>
<stiffness>15000</stiffness>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
<damping>0</damping>
<friction>0</friction>
</dynamics>
</axis>
</joint>
<static>0</static>
</model>
</sdf>
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