X-Git-Url: https://defiant.homedns.org/gitweb/?p=arm_ros_conn.git;a=blobdiff_plain;f=urdf%2Farm.urdf;h=6907f349bd830ceb9c06ed170315276606b01f30;hp=0c24531deda1e25aee0eccbbb24c227dca677452;hb=ba708031802a535bd8140bbb417ca0573faef373;hpb=d315c9127733fc072cabc7cabb48cd52adf4a319

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index 0c24531..6907f34 100644
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf
@@ -1,9 +1,12 @@
 <?xml version="1.0"?>
 <robot name="arm">
 	<link name="base_link">
+	</link>
+
+	<link name="arm_base">
 		<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"/>
@@ -16,7 +19,7 @@
 			<geometry>
 				<box size="0.06 0.03 0.123"/>
 			</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>
@@ -62,7 +65,7 @@
 	<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"/>
 			<material name="red">
@@ -98,8 +101,14 @@
 		</visual>
 	</link>
 
-	<joint name="base_to_link1" type="continuous">
+	<joint name="base_link_to_arm_base" type="fixed">
 		<parent link="base_link"/>
+		<child link="arm_base"/>
+		<origin xyz="0 0 0.00375"/>
+	</joint>
+
+	<joint name="arm_base_to_link1" type="continuous">
+		<parent link="arm_base"/>
 		<child link="link1"/>
 		<axis xyz="0 0 1"/>
 		<origin xyz="0 0.099 0"/>
@@ -110,7 +119,7 @@
 		<parent link="link1"/>
 		<child link="link2"/>
 		<axis xyz="0 0 1"/>
-		<origin xyz="0.0 0.0 0.135" rpy="1.57075 0 0"/>
+		<origin xyz="0.0 0.0 0.123" rpy="1.57075 0 0"/>
 		<limit effort="1000.0" lower="0.15045941827537324" upper="3.6110260386089577" velocity="1.0"/>
 	</joint>