</visual>
</link>
+ <link name="link2_motor_extension">
+ <visual>
+ <geometry>
+ <box size="0.015 0.015 0.10"/>
+ </geometry>
+ <origin xyz="0 0 0.05" rpy="0 0 0"/>
+ <material name="grey">
+ <color rgba="0.5 0.5 0.5 1"/>
+ </material>
+ </visual>
+ </link>
+
+ <link name="plate_box">
+ <visual>
+ <geometry>
+ <box size="0.08 0.185 0.035"/>
+ </geometry>
+ <origin xyz="0 0 0.0175" rpy="0 0 0"/>
+ <material name="black">
+ <color rgba="0 0 0 1"/>
+ </material>
+ </visual>
+ </link>
+
<joint name="plate_joint" type="fixed">
<parent link="base_link"/>
<child link="plate"/>
<parent link="arm_base"/>
<child link="link1"/>
<axis xyz="0 0 -1"/>
- <limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="0.1"/>
+ <limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="0.2"/>
</joint>
<joint name="link2_joint" type="revolute">
<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="0.1"/>
+ <limit effort="1.0" lower="0" upper="3.1416" velocity="0.2"/>
</joint>
<joint name="link4_joint" type="revolute">
<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="0.1"/>
+ <limit effort="1.0" lower="-0.15708" upper="5.4978" velocity="0.5"/>
</joint>
<joint name="link5_joint" type="revolute">
<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="0.1"/>
+ <limit effort="1.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
</joint>
<joint name="gripper_pole_joint" type="fixed">
<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>
+
+ <joint name="link2_motor_extension_joint" type="fixed">
+ <parent link="link2"/>
+ <child link="link2_motor_extension"/>
+ <origin xyz="0.165 -0.03 0" rpy="1.5708 0 0"/>
+ </joint>
+
+ <joint name="plate_box_joint" type="fixed">
+ <parent link="plate"/>
+ <child link="plate_box"/>
+ <origin xyz="-0.04 -0.035 0" rpy="0 0 0"/>
+ </joint>
</robot>