X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=urdf%2Farm.urdf;h=c7319dc2b09bfa3fc1640fcfd9f98fb5d01081f1;hb=bae7b8ce7189213ecaae23fcc7c48a63341214ce;hp=f23fe71a04d2b4cf17a77292d446fd2beefd37b9;hpb=d321c12780c8a802f363a723de0cac3954595938;p=arm_ros_conn.git

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index f23fe71..c7319dc 100644
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf
@@ -3,12 +3,23 @@
 	<link name="base_link">
 	</link>
 
+	<link name="arm_base">
+		<visual>
+			<geometry>
+				<mesh filename="package://arm_ros_conn/meshes/32985.stl"/>
+			</geometry>
+			<material name="black">
+				<color rgba="0 0 0 1"/>
+			</material>
+		</visual>
+	</link>
+
 	<link name="link1">
 		<visual>
 			<geometry>
-				<box size="0.06 0.03 0.135"/>
+				<box size="0.06 0.03 0.123"/>
 			</geometry>
-			<origin xyz="0 0 0.0675"/>
+			<origin xyz="0 0 0.0615"/>
 			<material name="grey">
 				<color rgba="0.5 0.5 0.5 1"/>
 			</material>
@@ -39,7 +50,7 @@
 		</visual>
 	</link>
 
-	<link name="gripper_pole1">
+	<link name="link4">
 		<visual>
 			<geometry>
 				<cylinder radius="0.045" length="0.03"/>
@@ -51,10 +62,10 @@
 		</visual>
 	</link>
 
-	<link name="gripper_pole2">
+	<link name="link5">
 		<visual>
 			<geometry>
-				<cylinder radius="0.03" length="0.015"/>
+				<mesh filename="package://arm_ros_conn/meshes/31019.stl"/>
 			</geometry>
 			<origin xyz="0.0 0 0" rpy="1.57075 0 0"/>
 			<material name="red">
@@ -63,12 +74,18 @@
 		</visual>
 	</link>
 
+	<link name="gripper_pole">
+	</link>
+
 	<link name="left_gripper">
 		<visual>
 			<origin xyz="0.025 0 0" rpy="-1.57075 3.1415 0"/>
 			<geometry>
 				<mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
 			</geometry>
+			<material name="red">
+				<color rgba="1 0 0 1"/>
+			</material>
 		</visual>
 	</link>
 
@@ -78,50 +95,65 @@
 			<geometry>
 				<mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
 			</geometry>
+			<material name="red">
+				<color rgba="1 0 0 1"/>
+			</material>
 		</visual>
 	</link>
 
-	<joint name="base_to_link1" type="continuous">
+	<joint name="base_link_to_arm_base" type="fixed">
 		<parent link="base_link"/>
+		<child link="arm_base"/>
+		<origin xyz="0 0 0.00375"/>
+	</joint>
+
+	<joint name="arm_base_to_link1" type="revolute">
+		<parent link="arm_base"/>
 		<child link="link1"/>
 		<axis xyz="0 0 1"/>
-		<limit effort="1000.0" lower="0.0" upper="5.672320068981571" velocity="1.0"/>
+		<origin xyz="0 0.099 0"/>
+		<limit effort="1000.0" lower="-5.672320068981571" upper="0.0" velocity="1.0"/>
 	</joint>
 
-	<joint name="link_1_2_joint" type="continuous">
+	<joint name="link_1_2_joint" type="revolute">
 		<parent link="link1"/>
 		<child link="link2"/>
 		<axis xyz="0 0 1"/>
-		<origin xyz="0.0 0.0 0.135" rpy="1.57075 0 0"/>
+		<origin xyz="0.0 0.0 0.123" rpy="1.57075 0 0"/>
 		<limit effort="1000.0" lower="0.15045941827537324" upper="3.6110260386089577" velocity="1.0"/>
 	</joint>
 
-	<joint name="link_2_3_joint" type="continuous">
+	<joint name="link_2_3_joint" type="revolute">
 		<parent link="link2"/>
 		<child link="link3"/>
 		<axis xyz="0 0 1"/>
 		<origin xyz="0.240 0.0 0.0" rpy="0 0 0"/>
-		<limit effort="1000.0" lower="0.0" upper="3.141592653589793" velocity="1.0"/>
+		<limit effort="1000.0" lower="-3.141592653589793" upper="0.0" velocity="1.0"/>
 	</joint>
 
-	<joint name="gripper_joint_1" type="continuous">
+	<joint name="link_3_4_joint" type="revolute">
 		<parent link="link3"/>
-		<child link="gripper_pole1"/>
+		<child link="link4"/>
 		<axis xyz="1 0 0"/>
 		<origin xyz="0 0.135 0.0" rpy="1.57075 0 1.57075"/>
-		<limit effort="1000.0" lower="-0.6981317007977319" upper="7.679448708775051" velocity="1.0"/>
+		<limit effort="1000.0" lower="-5.4978" upper="0.15708" velocity="1.0"/>
 	</joint>
 
-	<joint name="gripper_joint_2" type="continuous">
-		<parent link="gripper_pole1"/>
-		<child link="gripper_pole2"/>
+	<joint name="link_4_5_joint" type="revolute">
+		<parent link="link4"/>
+		<child link="link5"/>
 		<axis xyz="0 1 0"/>
 		<origin xyz="0.06 0.0 0.0" rpy="0 0 0"/>
 		<limit effort="1000.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
 	</joint>
 
+	<joint name="gripper_pole_joint" type="fixed">
+		<parent link="link5"/>
+		<child link="gripper_pole"/>
+	</joint>
+
 	<joint name="left_gripper_joint" type="revolute">
-		<parent link="gripper_pole2"/>
+		<parent link="gripper_pole"/>
 		<child link="left_gripper"/>
 		<axis xyz="0 0 1"/>
 		<origin xyz="0.02 0.01 0" rpy="0 0 0" />
@@ -129,7 +161,7 @@
 	</joint>
 
 	<joint name="right_gripper_joint" type="revolute">
-		<parent link="gripper_pole2"/>
+		<parent link="gripper_pole"/>
 		<child link="right_gripper"/>
 		<axis xyz="0 0 -1"/>
 		<origin xyz="0.02 -0.01 0" rpy="0 0 0"/>