X-Git-Url: https://defiant.homedns.org/gitweb/?p=arm_ros_conn.git;a=blobdiff_plain;f=urdf%2Farm.urdf;h=99e6dac78f31d185e84cac032a14e370281f56cd;hp=24a577b7a2e24f31b0e1eac1b2db95f007ab29ea;hb=93976bad39fb3219fe75e0111b0275e8a0f1b605;hpb=28013b21eaeee582d700a2fde396ffffbfe203b3

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index 24a577b..99e6dac 100644
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf
@@ -3,31 +3,19 @@
 	<link name="base_link">
 		<visual>
 			<geometry>
-				<box size="0.23 0.17 0.20"/>
+				<box size="0.30 0.22 0.015"/>
 			</geometry>
-			<origin xyz="0.0 0 0.12" rpy="0 0 0"/>
-			<material name="grey">
-				<color rgba="0.5 0.5 0.5 1"/>
-			</material>
-		</visual>
-	</link>
-
-	<link name="front_left_wheel">
-		<visual>
-			<geometry>
-				<cylinder radius="0.03" length="0.005"/>
-			</geometry>
-			<origin xyz="0 0 0" rpy="1.57 0 0"/>
+			<origin xyz="0.08 0 0.095" rpy="0 0 0"/>
 			<material name="black">
-				<color rgba="0 0 0 1"/>
+				<color rgba="0.0 0.0 0.0 1"/>
 			</material>
 		</visual>
 	</link>
 
-	<link name="front_right_wheel">
+	<link name="front_wheel">
 		<visual>
 			<geometry>
-				<cylinder radius="0.03" length="0.005"/>
+				<cylinder radius="0.025" length="0.002"/>
 			</geometry>
 			<origin xyz="0 0 0" rpy="1.57 0 0"/>
 			<material name="black">
@@ -39,7 +27,7 @@
 	<link name="aft_left_wheel">
 		<visual>
 			<geometry>
-				<cylinder radius="0.03" length="0.005"/>
+				<cylinder radius="0.025" length="0.002"/>
 			</geometry>
 			<origin xyz="0 0 0" rpy="1.57 0 0"/>
 			<material name="black">
@@ -51,7 +39,7 @@
 	<link name="aft_right_wheel">
 		<visual>
 			<geometry>
-				<cylinder radius="0.03" length="0.005"/>
+				<cylinder radius="0.025" length="0.002"/>
 			</geometry>
 			<origin xyz="0 0 0" rpy="1.57 0 0"/>
 			<material name="black">
@@ -60,163 +48,21 @@
 		</visual>
 	</link>
 
-	<link name="platform">
-		<visual>
-			<geometry>
-				<box size="0.08 0.065 0.075"/>
-			</geometry>
-			<material name="red">
-				<color rgba="1 0 0 1"/>
-			</material>
-		</visual>
-	</link>
-
-	<link name="scan">
-		<visual>
-			<geometry>
-				<box size="0.01 0.045 0.015"/>
-			</geometry>
-		</visual>
-	</link>
-
-	<link name="front_left_eye">
-		<visual>
-			<geometry>
-				<cylinder radius="0.0075" length="0.01"/>
-			</geometry>
-			<origin xyz="0 0 0" rpy="0 1.57 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
-		</visual>
-	</link>
-
-	<link name="front_right_eye">
-		<visual>
-			<geometry>
-				<cylinder radius="0.0075" length="0.01"/>
-			</geometry>
-			<origin xyz="0 0 0" rpy="0 1.57 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
-		</visual>
-	</link>
-
-	<link name="sonar_forward_lower">
-		<visual>
-			<geometry>
-				<box size="0.01 0.045 0.03"/>
-			</geometry>
-		</visual>
-	</link>
-
-	<link name="front_lower_left_eye">
-		<visual>
-			<geometry>
-				<cylinder radius="0.0075" length="0.01"/>
-			</geometry>
-			<origin xyz="0 0 0.0" rpy="0 1.57 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
-		</visual>
-	</link>
-
-	<link name="front_lower_right_eye">
-		<visual>
-			<geometry>
-				<cylinder radius="0.0075" length="0.01"/>
-			</geometry>
-			<origin xyz="0 0 0.0" rpy="0 1.57 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
-		</visual>
-	</link>
-
-	<link name="antenna">
-		<visual>
-			<geometry>
-				<cylinder radius="0.005" length="0.20"/>
-			</geometry>
-			<origin xyz="0 0 0.1" rpy="0 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
-		</visual>
-	</link>
-
-	<joint name="front_left_wheel_joint" type="fixed">
-		<parent link="base_link"/>
-		<child link="front_left_wheel"/>
-		<origin xyz="0.065 0.05 0.03" rpy="0 0 0"/>
-	</joint>
-
-	<joint name="front_right_wheel_joint" type="fixed">
+	<joint name="front_wheel_joint" type="fixed">
 		<parent link="base_link"/>
-		<child link="front_right_wheel"/>
-		<origin xyz="0.065 -0.05 0.03" rpy="0 0 0"/>
+		<child link="front_wheel"/>
+		<origin xyz="0.17 0.0 0.025" rpy="0 0 0"/>
 	</joint>
 
 	<joint name="aft_left_wheel_joint" type="fixed">
 		<parent link="base_link"/>
 		<child link="aft_left_wheel"/>
-		<origin xyz="-0.08 0.05 0.03" rpy="0 0 0"/>
+		<origin xyz="0.0 0.05 0.025" rpy="0 0 0"/>
 	</joint>
 
 	<joint name="aft_right_wheel_joint" type="fixed">
 		<parent link="base_link"/>
 		<child link="aft_right_wheel"/>
-		<origin xyz="-0.08 -0.05 0.03" rpy="0 0 0"/>
-	</joint>
-
-	<joint name="platform_joint" type="continuous">
-		<parent link="base_link"/>
-		<child link="platform"/>
-		<origin xyz="-0.04 0 0.26" rpy="0 0 0"/>
-		<axis xyz="0 0 1"/>
-	</joint>
-
-	<joint name="scan_joint" type="fixed">
-		<parent link="platform"/>
-		<child link="scan"/>
-		<origin xyz="0.035 0 0" rpy="0 0 0"/>
-	</joint>
-
-	<joint name="front_left_eye_joint" type="fixed">
-		<parent link="scan"/>
-		<child link="front_left_eye"/>
-		<origin xyz="0.01 -0.0125 0" rpy="0 0 0"/>
-	</joint>
-
-	<joint name="front_right_eye_joint" type="fixed">
-		<parent link="scan"/>
-		<child link="front_right_eye"/>
-		<origin xyz="0.01 0.0125 0" rpy="0 0 0"/>
-	</joint>
-
-	<joint name="sonar_forward_lower_join" type="fixed">
-		<parent link="base_link"/>
-		<child link="sonar_forward_lower"/>
-		<origin xyz="0.105 0.0 0.035" rpy="0 -0.1309 0"/>
-	</joint>
-
-	<joint name="front_lower_left_eye_joint" type="fixed">
-		<parent link="sonar_forward_lower"/>
-		<child link="front_lower_left_eye"/>
-		<origin xyz="0.01 -0.01 0.0" rpy="0 0 0"/>
-	</joint>
-
-	<joint name="front_lower_right_eye_joint" type="fixed">
-		<parent link="sonar_forward_lower"/>
-		<child link="front_lower_right_eye"/>
-		<origin xyz="0.01 0.01 0.0" rpy="0 0 0"/>
-	</joint>
-
-	<joint name="antenna_joint" type="fixed">
-		<parent link="base_link"/>
-		<child link="antenna"/>
-		<origin xyz="-0.12 0.08 0.14" rpy="0 0 0"/>
+		<origin xyz="0.0 -0.05 0.025" rpy="0 0 0"/>
 	</joint>
 </robot>