X-Git-Url: https://defiant.homedns.org/gitweb/?p=arm_ros_conn.git;a=blobdiff_plain;f=urdf%2Farm.urdf;h=37a9b0c509c50d2198390207ef8434abab089c12;hp=0c24531deda1e25aee0eccbbb24c227dca677452;hb=2e268d034ab0e01fe0ec5fa25c5c89e54b9f62f6;hpb=d315c9127733fc072cabc7cabb48cd52adf4a319

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index 0c24531..37a9b0c 100644
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf
@@ -1,9 +1,20 @@
 <?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">
+	</link>
+
+	<link name="plate">
 		<visual>
 			<geometry>
-				<mesh filename="package://arm_ros_conn/meshes/32985.stl" scale="1 1 1"/>
+				<mesh filename="package://arm_ros_conn/meshes/32985.stl"/>
 			</geometry>
 			<material name="black">
 				<color rgba="0 0 0 1"/>
@@ -11,12 +22,15 @@
 		</visual>
 	</link>
 
+	<link name="arm_base">
+	</link>
+
 	<link name="link1">
 		<visual>
 			<geometry>
-				<box size="0.06 0.03 0.123"/>
+				<mesh filename="package://arm_ros_conn/meshes/link1.stl"/>
 			</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>
@@ -26,9 +40,9 @@
 	<link name="link2">
 		<visual>
 			<geometry>
-				<box size="0.240 0.06 0.03"/>
+				<mesh filename="package://arm_ros_conn/meshes/link2.stl"/>
 			</geometry>
-			<origin xyz="0.120 0 0.0" rpy="0 0 0"/>
+			<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>
@@ -38,9 +52,9 @@
 	<link name="link3">
 		<visual>
 			<geometry>
-				<box size="0.06 0.135 0.03"/>
+				<mesh filename="package://arm_ros_conn/meshes/link3.stl"/>
 			</geometry>
-			<origin xyz="0.0 0.0675 0.0" rpy="0 0 0"/>
+			<origin xyz="0 0.0675 0" rpy="1.5708 0 0"/>
 			<material name="grey">
 				<color rgba="0.5 0.5 0.5 1"/>
 			</material>
@@ -50,9 +64,9 @@
 	<link name="link4">
 		<visual>
 			<geometry>
-				<cylinder radius="0.045" length="0.03"/>
+				<mesh filename="package://arm_ros_conn/meshes/link4.stl"/>
 			</geometry>
-			<origin xyz="0.015 0 0" rpy="0 1.57075 0"/>
+			<origin xyz="0 0 0.015" rpy="0 0 0"/>
 			<material name="black">
 				<color rgba="0 0 0 1"/>
 			</material>
@@ -62,9 +76,9 @@
 	<link name="link5">
 		<visual>
 			<geometry>
-				<mesh filename="package://arm_ros_conn/meshes/31019.stl" scale="1 1 1"/>
+				<mesh filename="package://arm_ros_conn/meshes/31019.stl"/>
 			</geometry>
-			<origin xyz="0.0 0 0" rpy="1.57075 0 0"/>
+			<origin xyz="0.0 0 0" rpy="0 0 0"/>
 			<material name="red">
 				<color rgba="1 0 0 1"/>
 			</material>
@@ -74,9 +88,12 @@
 	<link name="gripper_pole">
 	</link>
 
+	<link name="gripper_center">
+	</link>
+
 	<link name="left_gripper">
 		<visual>
-			<origin xyz="0.025 0 0" rpy="-1.57075 3.1415 0"/>
+			<origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/>
 			<geometry>
 				<mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
 			</geometry>
@@ -88,7 +105,7 @@
 
 	<link name="right_gripper">
 		<visual>
-			<origin xyz="0.025 0 0" rpy="1.57075 3.1415 0"/>
+			<origin xyz="0.025 0 0" rpy="-1.5708 3.1416 0"/>
 			<geometry>
 				<mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
 			</geometry>
@@ -98,64 +115,118 @@
 		</visual>
 	</link>
 
-	<joint name="base_to_link1" type="continuous">
+	<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="link1"/>
-		<axis xyz="0 0 1"/>
+		<child link="plate"/>
+		<origin xyz="0 0 0.00375"/>
+	</joint>
+
+	<joint name="arm_base_joint" type="fixed">
+		<parent link="plate"/>
+		<child link="arm_base"/>
 		<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="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="link2_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"/>
-		<limit effort="1000.0" lower="0.15045941827537324" upper="3.6110260386089577" velocity="1.0"/>
+		<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="link_2_3_joint" type="continuous">
+	<joint name="link3_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="-3.141592653589793" upper="0.0" velocity="1.0"/>
+		<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="link_3_4_joint" type="continuous">
+	<joint name="link4_joint" type="revolute">
 		<parent link="link3"/>
 		<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"/>
+		<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="link_4_5_joint" type="continuous">
+	<joint name="link5_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"/>
+		<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="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="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="left_gripper_joint" type="revolute">
 		<parent link="gripper_pole"/>
 		<child link="left_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"/>
+		<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="right_gripper_joint" type="revolute">
 		<parent link="gripper_pole"/>
 		<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"/>
+		<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>
+
+	<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>