use of stl in urdf

diff --git a/meshes/link1.stl b/meshes/link1.stl
new file mode 100644 (file)
index 0000000..5d4d975
Binary files /dev/null and b/meshes/link1.stl differ

diff --git a/meshes/link2.stl b/meshes/link2.stl
new file mode 100644 (file)
index 0000000..3417dfa
Binary files /dev/null and b/meshes/link2.stl differ

diff --git a/meshes/link3.stl b/meshes/link3.stl
new file mode 100644 (file)
index 0000000..0222903
Binary files /dev/null and b/meshes/link3.stl differ

diff --git a/meshes/link4.stl b/meshes/link4.stl
new file mode 100644 (file)
index 0000000..1e0fb69
Binary files /dev/null and b/meshes/link4.stl differ

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index c7319dc2b09bfa3fc1640fcfd9f98fb5d01081f1..a8c95387e396ae449f7e9f7c26272701fc4600d1 100644 (file)
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf
@@ -3,7 +3,7 @@
        <link name="base_link">
        </link>
 
        <link name="base_link">
        </link>
 

-       <link name="arm_base">
+       <link name="plate">

                <visual>
                        <geometry>
                                <mesh filename="package://arm_ros_conn/meshes/32985.stl"/>
                <visual>
                        <geometry>
                                <mesh filename="package://arm_ros_conn/meshes/32985.stl"/>


@@ -14,10 +14,13 @@
                </visual>
        </link>
 
                </visual>
        </link>
 

+       <link name="arm_base">
+       </link>
+

        <link name="link1">
                <visual>
                        <geometry>
        <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 0.0615"/>
                        <material name="grey">
                        </geometry>
                        <origin xyz="0 0 0.0615"/>
                        <material name="grey">


@@ -29,9 +32,9 @@
        <link name="link2">
                <visual>
                        <geometry>
        <link name="link2">
                <visual>
                        <geometry>

-                               <box size="0.240 0.06 0.03"/>
+                               <mesh filename="package://arm_ros_conn/meshes/link2.stl"/>

                        </geometry>
                        </geometry>

-                       <origin xyz="0.120 0 0.0" rpy="0 0 0"/>
+                       <origin xyz="0 0 0.120" rpy="0 0 0"/>

                        <material name="grey">
                                <color rgba="0.5 0.5 0.5 1"/>
                        </material>
                        <material name="grey">
                                <color rgba="0.5 0.5 0.5 1"/>
                        </material>


@@ -41,9 +44,9 @@
        <link name="link3">
                <visual>
                        <geometry>
        <link name="link3">
                <visual>
                        <geometry>

-                               <box size="0.06 0.135 0.03"/>
+                               <mesh filename="package://arm_ros_conn/meshes/link3.stl"/>

                        </geometry>
                        </geometry>

-                       <origin xyz="0.0 0.0675 0.0" rpy="0 0 0"/>
+                       <origin xyz="0 0 0.0675" rpy="0 0 0"/>

                        <material name="grey">
                                <color rgba="0.5 0.5 0.5 1"/>
                        </material>
                        <material name="grey">
                                <color rgba="0.5 0.5 0.5 1"/>
                        </material>


@@ -53,9 +56,9 @@
        <link name="link4">
                <visual>
                        <geometry>
        <link name="link4">
                <visual>
                        <geometry>

-                               <cylinder radius="0.045" length="0.03"/>
+                               <mesh filename="package://arm_ros_conn/meshes/link4.stl"/>

                        </geometry>
                        </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>
                        <material name="black">
                                <color rgba="0 0 0 1"/>
                        </material>


@@ -67,7 +70,7 @@
                        <geometry>
                                <mesh filename="package://arm_ros_conn/meshes/31019.stl"/>
                        </geometry>
                        <geometry>
                                <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="1.5708 0 0"/>

                        <material name="red">
                                <color rgba="1 0 0 1"/>
                        </material>
                        <material name="red">
                                <color rgba="1 0 0 1"/>
                        </material>


@@ -77,6 +80,9 @@
        <link name="gripper_pole">
        </link>
 
        <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"/>
        <link name="left_gripper">
                <visual>
                        <origin xyz="0.025 0 0" rpy="-1.57075 3.1415 0"/>


@@ -101,41 +107,46 @@
                </visual>
        </link>
 
                </visual>
        </link>
 

-       <joint name="base_link_to_arm_base" type="fixed">
+       <joint name="base_link_to_plate" type="fixed">

                <parent link="base_link"/>
                <parent link="base_link"/>

-               <child link="arm_base"/>
+               <child link="plate"/>

                <origin xyz="0 0 0.00375"/>
        </joint>
 
                <origin xyz="0 0 0.00375"/>
        </joint>
 

+       <joint name="plate_to_arm_base" type="fixed">
+               <parent link="plate"/>
+               <child link="arm_base"/>
+               <origin xyz="0 0.099 0"/>
+       </joint>
+

        <joint name="arm_base_to_link1" type="revolute">
                <parent link="arm_base"/>
                <child link="link1"/>
                <axis xyz="0 0 1"/>
        <joint name="arm_base_to_link1" type="revolute">
                <parent link="arm_base"/>
                <child link="link1"/>
                <axis xyz="0 0 1"/>

-               <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="revolute">
                <parent link="link1"/>
                <child link="link2"/>
                <limit effort="1000.0" lower="-5.672320068981571" upper="0.0" velocity="1.0"/>
        </joint>
 
        <joint name="link_1_2_joint" type="revolute">
                <parent link="link1"/>
                <child link="link2"/>

-               <axis xyz="0 0 1"/>
-               <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"/>
+               <axis xyz="0 1 0"/>
+               <origin xyz="0.0 0.0 0.123" rpy="0 0 0"/>
+               <limit effort="1000.0" lower="-2.0402" upper="1.4203" velocity="1.0"/>

        </joint>
 
        <joint name="link_2_3_joint" type="revolute">
                <parent link="link2"/>
                <child link="link3"/>
        </joint>
 
        <joint name="link_2_3_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 1 0"/>
+               <origin xyz="0 0 0.240" rpy="0 0 0"/>
+               <limit effort="1000.0" lower="-1.5708" upper="1.5708" velocity="1.0"/>

        </joint>
 
        <joint name="link_3_4_joint" type="revolute">
                <parent link="link3"/>
                <child link="link4"/>
        </joint>
 
        <joint name="link_3_4_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"/>
+               <axis xyz="0 0 1"/>
+               <origin xyz="0 0 0.135" rpy="0 0 0"/>

                <limit effort="1000.0" lower="-5.4978" upper="0.15708" velocity="1.0"/>
        </joint>
 
                <limit effort="1000.0" lower="-5.4978" upper="0.15708" velocity="1.0"/>
        </joint>
 


@@ -143,7 +154,7 @@
                <parent link="link4"/>
                <child link="link5"/>
                <axis xyz="0 1 0"/>
                <parent link="link4"/>
                <child link="link5"/>
                <axis xyz="0 1 0"/>

-               <origin xyz="0.06 0.0 0.0" rpy="0 0 0"/>
+               <origin xyz="0 0 0.06" rpy="0 0 0"/>

                <limit effort="1000.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
        </joint>
 
                <limit effort="1000.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
        </joint>
 


@@ -152,11 +163,17 @@
                <child link="gripper_pole"/>
        </joint>
 
                <child link="gripper_pole"/>
        </joint>
 

+       <joint name="gripper_center_joint" type="fixed">
+               <parent link="gripper_pole"/>
+               <child link="gripper_center"/>
+               <origin xyz="0.0 0.0 0.1" 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"/>
        <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" />
+               <origin xyz="0.0 0.01 0.02" rpy="0 -1.5708 0" />

                <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
        </joint>
 
                <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
        </joint>
 


@@ -164,7 +181,7 @@
                <parent link="gripper_pole"/>
                <child link="right_gripper"/>
                <axis xyz="0 0 -1"/>
                <parent link="gripper_pole"/>
                <child link="right_gripper"/>
                <axis xyz="0 0 -1"/>

-               <origin xyz="0.02 -0.01 0" rpy="0 0 0"/>
+               <origin xyz="0.0 -0.01 0.02" rpy="0 -1.5708 0"/>

                <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
        </joint>
 </robot>
                <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
        </joint>
 </robot>