X-Git-Url: https://defiant.homedns.org/gitweb/?p=arm_ros_conn.git;a=blobdiff_plain;f=urdf%2Farm.urdf;h=0c24531deda1e25aee0eccbbb24c227dca677452;hp=f20e03e5fd88d25ba310528d23c476f9121ac0fd;hb=d315c9127733fc072cabc7cabb48cd52adf4a319;hpb=0e97be92638b9ee1539278ca7aa69842cc7032a1

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index f20e03e..0c24531 100644
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf
@@ -1,12 +1,20 @@
 <?xml version="1.0"?>
 <robot name="arm">
 	<link name="base_link">
+		<visual>
+			<geometry>
+				<mesh filename="package://arm_ros_conn/meshes/32985.stl" scale="1 1 1"/>
+			</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"/>
 			<material name="grey">
@@ -39,7 +47,7 @@
 		</visual>
 	</link>
 
-	<link name="gripper_pole1">
+	<link name="link4">
 		<visual>
 			<geometry>
 				<cylinder radius="0.045" length="0.03"/>
@@ -51,10 +59,10 @@
 		</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" scale="1 1 1"/>
 			</geometry>
 			<origin xyz="0.0 0 0" rpy="1.57075 0 0"/>
 			<material name="red">
@@ -63,12 +71,18 @@
 		</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>
 
@@ -78,6 +92,9 @@
 			<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>
 
@@ -85,6 +102,7 @@
 		<parent link="base_link"/>
 		<child link="link1"/>
 		<axis xyz="0 0 1"/>
+		<origin xyz="0 0.099 0"/>
 		<limit effort="1000.0" lower="-5.672320068981571" upper="0.0" velocity="1.0"/>
 	</joint>
 
@@ -104,24 +122,29 @@
 		<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="continuous">
 		<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="-7.679448708775051" upper="0.6981317007977319" 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="continuous">
+		<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 +152,7 @@
 	</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"/>