From 005d45f4f65d3a95d8175ab6ed02a0d35920dcf4 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 14 Aug 2021 16:58:21 +0200
Subject: [PATCH] replace id 12 with xm540-w270

---
 urdf/open_manipulator.urdf.xacro | 16 +++++++---------
 1 file changed, 7 insertions(+), 9 deletions(-)

diff --git a/urdf/open_manipulator.urdf.xacro b/urdf/open_manipulator.urdf.xacro
index 956569c..53af13a 100644
--- a/urdf/open_manipulator.urdf.xacro
+++ b/urdf/open_manipulator.urdf.xacro
@@ -69,7 +69,7 @@
   <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}" />
   </joint>
@@ -80,17 +80,15 @@
   <!--  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>
 
@@ -115,7 +113,7 @@
   <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>
@@ -128,7 +126,7 @@
 	  <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>
@@ -136,7 +134,7 @@
 	  <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>
 
@@ -161,7 +159,7 @@
   <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>
-- 
2.39.2