From 2a53465455bd4aa7558788109775c11e5d223523 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 1 Jun 2019 11:42:52 +0200
Subject: [PATCH] urdf: Added additional links for collision checks

---
 launch/moveit.launch |  8 ++++++++
 urdf/arm.urdf        | 36 ++++++++++++++++++++++++++++++++++++
 2 files changed, 44 insertions(+)
 create mode 100644 launch/moveit.launch

diff --git a/launch/moveit.launch b/launch/moveit.launch
new file mode 100644
index 0000000..5b2488f
--- /dev/null
+++ b/launch/moveit.launch
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<launch>
+	<include file="$(find arm_moveit_config)/launch/move_group.launch" />
+
+	<include file="$(find arm_moveit_config)/launch/moveit_rviz.launch">
+		<arg name="config" value="true"/>
+	</include>
+</launch>
diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index e59c6e2..3b7c0b7 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="0.185 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"/>
@@ -193,4 +217,16 @@ For IKFast:
 		<origin xyz="0 -0.015 0" rpy="3.1416 0 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 -0.035 0" rpy="0 0 0"/>
+	</joint>
 </robot>
-- 
2.39.2