X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=urdf%2Farm.urdf;h=e59c6e2974aaad369aa656cc2e38c3a015e0d1b5;hb=427a9790c483e9a4e0d137c7ddd553edc7f24b9e;hp=24a577b7a2e24f31b0e1eac1b2db95f007ab29ea;hpb=28013b21eaeee582d700a2fde396ffffbfe203b3;p=arm_ros_conn.git

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index 24a577b..e59c6e2 100644
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf
@@ -1,222 +1,196 @@
 <?xml version="1.0"?>
+
+<!--
+For IKFast:
+- All rotation about Z-Axis
+- Gripper base at offset from last link
+- Gripper base points to Z-Direction
+-->
+
 <robot name="arm">
 	<link name="base_link">
-		<visual>
-			<geometry>
-				<box size="0.23 0.17 0.20"/>
-			</geometry>
-			<origin xyz="0.0 0 0.12" rpy="0 0 0"/>
-			<material name="grey">
-				<color rgba="0.5 0.5 0.5 1"/>
-			</material>
-		</visual>
 	</link>
 
-	<link name="front_left_wheel">
+	<link name="plate">
 		<visual>
 			<geometry>
-				<cylinder radius="0.03" length="0.005"/>
+				<mesh filename="package://arm_ros_conn/meshes/32985.stl"/>
 			</geometry>
-			<origin xyz="0 0 0" rpy="1.57 0 0"/>
 			<material name="black">
 				<color rgba="0 0 0 1"/>
 			</material>
 		</visual>
 	</link>
 
-	<link name="front_right_wheel">
-		<visual>
-			<geometry>
-				<cylinder radius="0.03" length="0.005"/>
-			</geometry>
-			<origin xyz="0 0 0" rpy="1.57 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
-		</visual>
+	<link name="arm_base">
 	</link>
 
-	<link name="aft_left_wheel">
+	<link name="link1">
 		<visual>
 			<geometry>
-				<cylinder radius="0.03" length="0.005"/>
+				<mesh filename="package://arm_ros_conn/meshes/link1.stl"/>
 			</geometry>
-			<origin xyz="0 0 0" rpy="1.57 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
+			<origin xyz="0 0 0.0615"/>
+			<material name="grey">
+				<color rgba="0.5 0.5 0.5 1"/>
 			</material>
 		</visual>
 	</link>
 
-	<link name="aft_right_wheel">
+	<link name="link2">
 		<visual>
 			<geometry>
-				<cylinder radius="0.03" length="0.005"/>
+				<mesh filename="package://arm_ros_conn/meshes/link2.stl"/>
 			</geometry>
-			<origin xyz="0 0 0" rpy="1.57 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
+			<origin xyz="0.120 0 0" rpy="1.5708 0 1.5708"/>
+			<material name="grey">
+				<color rgba="0.5 0.5 0.5 1"/>
 			</material>
 		</visual>
 	</link>
 
-	<link name="platform">
+	<link name="link3">
 		<visual>
 			<geometry>
-				<box size="0.08 0.065 0.075"/>
+				<mesh filename="package://arm_ros_conn/meshes/link3.stl"/>
 			</geometry>
-			<material name="red">
-				<color rgba="1 0 0 1"/>
+			<origin xyz="0 0.0675 0" rpy="1.5708 0 0"/>
+			<material name="grey">
+				<color rgba="0.5 0.5 0.5 1"/>
 			</material>
 		</visual>
 	</link>
 
-	<link name="scan">
-		<visual>
-			<geometry>
-				<box size="0.01 0.045 0.015"/>
-			</geometry>
-		</visual>
-	</link>
-
-	<link name="front_left_eye">
+	<link name="link4">
 		<visual>
 			<geometry>
-				<cylinder radius="0.0075" length="0.01"/>
+				<mesh filename="package://arm_ros_conn/meshes/link4.stl"/>
 			</geometry>
-			<origin xyz="0 0 0" rpy="0 1.57 0"/>
+			<origin xyz="0 0 0.015" rpy="0 0 0"/>
 			<material name="black">
 				<color rgba="0 0 0 1"/>
 			</material>
 		</visual>
 	</link>
 
-	<link name="front_right_eye">
+	<link name="link5">
 		<visual>
 			<geometry>
-				<cylinder radius="0.0075" length="0.01"/>
+				<mesh filename="package://arm_ros_conn/meshes/31019.stl"/>
 			</geometry>
-			<origin xyz="0 0 0" rpy="0 1.57 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
+			<origin xyz="0.0 0 0" rpy="0 0 0"/>
+			<material name="red">
+				<color rgba="1 0 0 1"/>
 			</material>
 		</visual>
 	</link>
 
-	<link name="sonar_forward_lower">
-		<visual>
-			<geometry>
-				<box size="0.01 0.045 0.03"/>
-			</geometry>
-		</visual>
+	<link name="gripper_pole">
 	</link>
 
-	<link name="front_lower_left_eye">
-		<visual>
-			<geometry>
-				<cylinder radius="0.0075" length="0.01"/>
-			</geometry>
-			<origin xyz="0 0 0.0" rpy="0 1.57 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
-		</visual>
+	<link name="gripper_center">
 	</link>
 
-	<link name="front_lower_right_eye">
+	<link name="left_gripper">
 		<visual>
+			<origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/>
 			<geometry>
-				<cylinder radius="0.0075" length="0.01"/>
+				<mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
 			</geometry>
-			<origin xyz="0 0 0.0" rpy="0 1.57 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
+			<material name="red">
+				<color rgba="1 0 0 1"/>
 			</material>
 		</visual>
 	</link>
 
-	<link name="antenna">
+	<link name="right_gripper">
 		<visual>
+			<origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/>
 			<geometry>
-				<cylinder radius="0.005" length="0.20"/>
+				<mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
 			</geometry>
-			<origin xyz="0 0 0.1" rpy="0 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
+			<material name="red">
+				<color rgba="1 0 0 1"/>
 			</material>
 		</visual>
 	</link>
 
-	<joint name="front_left_wheel_joint" type="fixed">
+	<joint name="plate_joint" type="fixed">
 		<parent link="base_link"/>
-		<child link="front_left_wheel"/>
-		<origin xyz="0.065 0.05 0.03" rpy="0 0 0"/>
+		<child link="plate"/>
+		<origin xyz="0 0 0.00375"/>
 	</joint>
 
-	<joint name="front_right_wheel_joint" type="fixed">
-		<parent link="base_link"/>
-		<child link="front_right_wheel"/>
-		<origin xyz="0.065 -0.05 0.03" rpy="0 0 0"/>
+	<joint name="arm_base_joint" type="fixed">
+		<parent link="plate"/>
+		<child link="arm_base"/>
+		<origin xyz="0 0.099 0"/>
 	</joint>
 
-	<joint name="aft_left_wheel_joint" type="fixed">
-		<parent link="base_link"/>
-		<child link="aft_left_wheel"/>
-		<origin xyz="-0.08 0.05 0.03" rpy="0 0 0"/>
+	<joint name="link1_joint" type="revolute">
+		<parent link="arm_base"/>
+		<child link="link1"/>
+		<axis xyz="0 0 -1"/>
+		<limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="0.2"/>
 	</joint>
 
-	<joint name="aft_right_wheel_joint" type="fixed">
-		<parent link="base_link"/>
-		<child link="aft_right_wheel"/>
-		<origin xyz="-0.08 -0.05 0.03" rpy="0 0 0"/>
-	</joint>
-
-	<joint name="platform_joint" type="continuous">
-		<parent link="base_link"/>
-		<child link="platform"/>
-		<origin xyz="-0.04 0 0.26" rpy="0 0 0"/>
+	<joint name="link2_joint" type="revolute">
+		<parent link="link1"/>
+		<child link="link2"/>
 		<axis xyz="0 0 1"/>
+		<origin xyz="0.0 0.0 0.123" rpy="1.5708 0 0"/>
+		<limit effort="1.0" lower="0.1505" upper="3.611" velocity="0.1"/>
 	</joint>
 
-	<joint name="scan_joint" type="fixed">
-		<parent link="platform"/>
-		<child link="scan"/>
-		<origin xyz="0.035 0 0" rpy="0 0 0"/>
+	<joint name="link3_joint" type="revolute">
+		<parent link="link2"/>
+		<child link="link3"/>
+		<axis xyz="0 0 -1"/>
+		<origin xyz="0.240 0 0" rpy="0 0 0"/>
+		<limit effort="1.0" lower="0" upper="3.1416" velocity="0.2"/>
 	</joint>
 
-	<joint name="front_left_eye_joint" type="fixed">
-		<parent link="scan"/>
-		<child link="front_left_eye"/>
-		<origin xyz="0.01 -0.0125 0" rpy="0 0 0"/>
+	<joint name="link4_joint" type="revolute">
+		<parent link="link3"/>
+		<child link="link4"/>
+		<axis xyz="0 0 -1"/>
+		<origin xyz="0 0.135 0" rpy="-1.5708 0 0"/>
+		<limit effort="1.0" lower="-0.15708" upper="5.4978" velocity="0.5"/>
 	</joint>
 
-	<joint name="front_right_eye_joint" type="fixed">
-		<parent link="scan"/>
-		<child link="front_right_eye"/>
-		<origin xyz="0.01 0.0125 0" rpy="0 0 0"/>
+	<joint name="link5_joint" type="revolute">
+		<parent link="link4"/>
+		<child link="link5"/>
+		<axis xyz="0 0 1"/>
+		<origin xyz="0 0 0.06" rpy="1.5708 0 0"/>
+		<limit effort="1.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
 	</joint>
 
-	<joint name="sonar_forward_lower_join" type="fixed">
-		<parent link="base_link"/>
-		<child link="sonar_forward_lower"/>
-		<origin xyz="0.105 0.0 0.035" rpy="0 -0.1309 0"/>
+	<joint name="gripper_pole_joint" type="fixed">
+		<parent link="link5"/>
+		<child link="gripper_pole"/>
+		<origin xyz="0 0.02275 0" rpy="1.5708 0 1.5708"/>
 	</joint>
 
-	<joint name="front_lower_left_eye_joint" type="fixed">
-		<parent link="sonar_forward_lower"/>
-		<child link="front_lower_left_eye"/>
-		<origin xyz="0.01 -0.01 0.0" rpy="0 0 0"/>
+	<joint name="gripper_center_joint" type="fixed">
+		<parent link="gripper_pole"/>
+		<child link="gripper_center"/>
+		<origin xyz="0.08 0 0" rpy="0 0 0"/>
 	</joint>
 
-	<joint name="front_lower_right_eye_joint" type="fixed">
-		<parent link="sonar_forward_lower"/>
-		<child link="front_lower_right_eye"/>
-		<origin xyz="0.01 0.01 0.0" rpy="0 0 0"/>
+	<joint name="left_gripper_joint" type="revolute">
+		<parent link="gripper_pole"/>
+		<child link="left_gripper"/>
+		<axis xyz="0 0 1"/>
+		<origin xyz="0 0.015 0" rpy="0 0 0"/>
+		<limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
 	</joint>
 
-	<joint name="antenna_joint" type="fixed">
-		<parent link="base_link"/>
-		<child link="antenna"/>
-		<origin xyz="-0.12 0.08 0.14" rpy="0 0 0"/>
+	<joint name="right_gripper_joint" type="revolute">
+		<parent link="gripper_pole"/>
+		<child link="right_gripper"/>
+		<axis xyz="0 0 1"/>
+		<origin xyz="0 -0.015 0" rpy="3.1416 0 0"/>
+		<limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
 	</joint>
 </robot>