publish joint messages, added gripper 35978

[arm_ros_conn.git] / urdf / arm.urdf

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index 24587c0e1d548193c942cc99e57f03b5788a9509..62d8e8a5b14295fad490f5c4a17eacadf52df7ae 100644 (file)
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf
@@ -42,9 +42,9 @@
        <link name="gripper_pole1">
                <visual>
                        <geometry>
-                               <cylinder radius="0.04" length="0.055"/>
+                               <cylinder radius="0.045" length="0.03"/>
                        </geometry>
-                       <origin xyz="0.0275 0 0" rpy="0 1.57075 0"/>
+                       <origin xyz="0.015 0 0" rpy="0 1.57075 0"/>
                        <material name="black">
                                <color rgba="0 0 0 1"/>
                        </material>
@@ -54,26 +54,29 @@
        <link name="gripper_pole2">
                <visual>
                        <geometry>
-                               <cylinder radius="0.0" length="0.0"/>
+                               <cylinder radius="0.03" length="0.015"/>
                        </geometry>
-                       <origin xyz="0.0 0 0" rpy="0 0 0"/>
+                       <origin xyz="0.0 0 0" rpy="1.57075 0 0"/>
+                       <material name="red">
+                               <color rgba="1 0 0 1"/>
+                       </material>
                </visual>
        </link>
 
        <link name="left_gripper">
                <visual>
-                       <origin rpy="0.0 0 0" xyz="0 0 0"/>
+                       <origin xyz="0.025 0 0" rpy="-1.57075 3.1415 0"/>
                        <geometry>
-                               <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
+                               <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
                        </geometry>
                </visual>
        </link>
 
        <link name="right_gripper">
                <visual>
-                       <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
+                       <origin xyz="0.025 0 0" rpy="1.57075 3.1415 0"/>
                        <geometry>
-                               <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
+                               <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
                        </geometry>
                </visual>
        </link>
@@ -113,23 +116,23 @@
                <parent link="gripper_pole1"/>
                <child link="gripper_pole2"/>
                <axis xyz="0 1 0"/>
-               <origin xyz="0.055 0.0 0.0" rpy="0 0 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="right_gripper_joint" type="revolute">
-               <parent link="gripper_pole2"/>
-               <child link="right_gripper"/>
-               <axis xyz="0 0 -1"/>
-               <origin xyz="0 -0.01 0" rpy="0 0 0"/>
-               <limit effort="1000.0" lower="0.0" upper="0.548" velocity="1.0"/>
-       </joint>
-
        <joint name="left_gripper_joint" type="revolute">
                <parent link="gripper_pole2"/>
                <child link="left_gripper"/>
                <axis xyz="0 0 1"/>
-               <origin xyz="0 0.01 0" rpy="0 0 0" />
-               <limit effort="1000.0" lower="0.0" upper="0.548" velocity="1.0"/>
+               <origin xyz="0.02 0.01 0" rpy="0 0 0" />
+               <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
+       </joint>
+
+       <joint name="right_gripper_joint" type="revolute">
+               <parent link="gripper_pole2"/>
+               <child link="right_gripper"/>
+               <axis xyz="0 0 -1"/>
+               <origin xyz="0.02 -0.01 0" rpy="0 0 0"/>
+               <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
        </joint>
 </robot>