The gripper of the robot is designed for the picking and placing of blocks; the gripper is in the simple linkage category. There are two joints for the gripper, and each joint is prismatic. Here is the joint definition of one gripper joint:
<joint name="finger_joint1" type="prismatic">
<parent link="gripper_roll_link"/>
<child link="gripper_finger_link1"/>
<origin xyz="0.0 0 0" />
<axis xyz="0 1 0" />
<limit effort="100" lower="0" upper="0.03" velocity="1.0"/>
<safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-0.15 }"
soft_upper_limit="${ 0.0 }"/>
<dynamics damping="50" friction="1"/>
</joint>
Here, the first gripper joint is formed by gripper_roll_link and gripper_finger_link1, and the ...
