<xacro:include filename="$(find open_manipulator_description)/urdf/open_manipulator.gazebo.xacro" />
<!-- Import Rviz colors -->
<xacro:include filename="$(find open_manipulator_description)/urdf/materials.xacro" />
+ <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro"/>
<!-- Transmission macro -->
<xacro:macro name="SimpleTransmission" params="joint n">
</transmission>
</xacro:macro>
+ <link name="open_manipulator_base">
+ </link>
+
+ <joint name="world_fixed" type="fixed">
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <parent link="open_manipulator_base"/>
+ <child link="link1"/>
+ </joint>
+
<!-- Link 1 -->
<link name="link1">
<visual>
<joint name="joint1" type="revolute">
<parent link="link1"/>
<child link="link2"/>
- <origin xyz="0.012 0.0 0.017" rpy="0 0 0"/>
+ <origin xyz="0.012 0.0 0.036" rpy="0 0 0"/> <!-- Height servo+horn -->
<axis xyz="0 0 1"/>
- <limit velocity="4.8" effort="1" lower="${-pi}" upper="${pi}" />
+ <limit velocity="3.1" effort="1" lower="${-pi}" upper="${pi}" />
</joint>
<!-- Transmission 1 -->
<!-- Link 2 -->
<link name="link2">
<visual>
- <origin xyz="0 0 0.019" rpy="0 0 0"/>
<geometry>
- <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
+ <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="${0.001*33.5/28.5} ${0.001*44/34} ${0.001*58.5/46.5}"/> <!-- scale by XM540 -->
</geometry>
<material name="grey"/>
</visual>
<collision>
- <origin xyz="0 0 0.019" rpy="0 0 0"/>
<geometry>
- <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
+ <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="${0.001*33.5/28.5} ${0.001*44/34} ${0.001*58.5/46.5}"/> <!-- scale by XM540 -->
</geometry>
</collision>
<joint name="joint2" type="revolute">
<parent link="link2"/>
<child link="link3"/>
- <origin xyz="0.0 0.0 0.0595" rpy="0 0 0"/>
+ <origin xyz="0.0 0.0 0.0515" rpy="0 0 0"/> <!-- fr13-s102k to middle of servo horn -->
<axis xyz="0 1 0"/>
<limit velocity="4.8" effort="1" lower="${-pi*0.64}" upper="${pi*0.64}" />
</joint>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
- <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
+ <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 ${0.001*(1+0.004/0.128)}"/> <!-- scale by 4mm more, see joint3 -->
</geometry>
<material name="grey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
- <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
+ <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 ${0.001*(1+0.004/0.128)}"/> <!-- scale by 4mm more, see joint3 -->
</geometry>
</collision>
<joint name="joint3" type="revolute">
<parent link="link3"/>
<child link="link4"/>
- <origin xyz="0.024 0 0.128" rpy="0 0 0"/>
+ <origin xyz="0.024 0 ${0.128+0.004}" rpy="0 0 0"/> <!-- 4mm more for FR13-H101K-->
<axis xyz="0 1 0"/>
<limit velocity="4.8" effort="1" lower="${-pi*0.64}" upper="${pi*0.48}" />
</joint>
</inertial>
</link>
+ <sensor_d435 parent="gripper_link">
+ <origin xyz="-0.02 -0.018 0.055" rpy="0 0 0"/>
+ </sensor_d435>
</robot>