X-Git-Url: https://defiant.homedns.org/gitweb/?p=arm_ros_conn.git;a=blobdiff_plain;f=urdf%2Farm.urdf;h=37a9b0c509c50d2198390207ef8434abab089c12;hp=ba1e7b862d722b09e4dfe7f4bded5d2c8c7f40ba;hb=2e268d034ab0e01fe0ec5fa25c5c89e54b9f62f6;hpb=493f4846bb31f96812738ccdcf2b266c519895df

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index ba1e7b8..37a9b0c 100644
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf
@@ -115,6 +115,30 @@ For IKFast:
 		</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"/>
@@ -131,7 +155,7 @@ For IKFast:
 		<parent link="arm_base"/>
 		<child link="link1"/>
 		<axis xyz="0 0 -1"/>
-		<limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="1.0"/>
+		<limit effort="1.0" lower="0.0" upper="5.672320068981571" velocity="0.2"/>
 	</joint>
 
 	<joint name="link2_joint" type="revolute">
@@ -139,7 +163,7 @@ For IKFast:
 		<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="1.0"/>
+		<limit effort="1.0" lower="0.1505" upper="3.611" velocity="0.1"/>
 	</joint>
 
 	<joint name="link3_joint" type="revolute">
@@ -147,7 +171,7 @@ For IKFast:
 		<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="1.0"/>
+		<limit effort="1.0" lower="0" upper="3.1416" velocity="0.2"/>
 	</joint>
 
 	<joint name="link4_joint" type="revolute">
@@ -155,7 +179,7 @@ For IKFast:
 		<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="1.0"/>
+		<limit effort="1.0" lower="-0.15708" upper="5.4978" velocity="0.5"/>
 	</joint>
 
 	<joint name="link5_joint" type="revolute">
@@ -183,7 +207,7 @@ For IKFast:
 		<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="1.0"/>
+		<limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
 	</joint>
 
 	<joint name="right_gripper_joint" type="revolute">
@@ -191,6 +215,18 @@ For IKFast:
 		<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="1.0"/>
+		<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>