urdf fixes

diff --git a/meshes/31019.stl b/meshes/31019.stl
index 74688938662a4352af0d2a2fa04ab842d2550a92..07b21e694d383e4b1e4d6df71c888ee573981df0 100644 (file)
Binary files a/meshes/31019.stl and b/meshes/31019.stl differ

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index 0c24531deda1e25aee0eccbbb24c227dca677452..6907f349bd830ceb9c06ed170315276606b01f30 100644 (file)
--- 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>