diff --git a/universal_robot_description/meshes/UpperArm.dae b/universal_robot_description/meshes/UpperArm.dae
new file mode 100755
index 0000000000000000000000000000000000000000..3387a65ac273d8195a3b802f1049cfd5a563d3e5
--- /dev/null
+++ b/universal_robot_description/meshes/UpperArm.dae
@@ -0,0 +1,18759 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>NxuStream2 converter - http://www.ageia.com</author>
+ <authoring_tool>PhysX Rocket, PhysX Viewer, or CreateDynamics</authoring_tool>
+ <comments>questions to: jratcliff@ageia.com</comments>
+ </contributor>
+ <created>2012-03-22T01:29:07.204Z</created>
+ <modified>2012-03-22T01:29:07.204Z</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
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+ </material>
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+ </material>
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+ <restitution>0.005</restitution>
+ <static_friction>0.5</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat6_0-PhysicsMaterial" name="pmat6_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.600000024</dynamic_friction>
+ <restitution>0.006</restitution>
+ <static_friction>0.600000024</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat7_0-PhysicsMaterial" name="pmat7_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.699999988</dynamic_friction>
+ <restitution>0.007</restitution>
+ <static_friction>0.699999988</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat8_0-PhysicsMaterial" name="pmat8_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.800000012</dynamic_friction>
+ <restitution>0.008</restitution>
+ <static_friction>0.800000012</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat9_0-PhysicsMaterial" name="pmat9_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.900000036</dynamic_friction>
+ <restitution>0.009</restitution>
+ <static_friction>0.900000036</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat10_0-PhysicsMaterial" name="pmat10_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>1</dynamic_friction>
+ <restitution>0.01</restitution>
+ <static_friction>1</static_friction>
+ </technique_common>
+ </physics_material>
+ </library_physics_materials>
+ <library_physics_models>
+ <physics_model id="Scene0-PhysicsModel">
+ <rigid_body sid="Actor0-RigidBody" name="UR5-2/Size 3_House_r11_Simple-1">
+ <technique_common>
+ <dynamic>true</dynamic>
+ <mass>1.269989491</mass>
+ <mass_frame>
+ <translate>0.012227285 -0.013439028 -0.000000123</translate>
+ <rotate>0.800915182 0.423405886 0.423393786 102.613449097</rotate>
+ </mass_frame>
+ <inertia>0.01 0.01 0.01</inertia>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <shape>
+ <density>1</density>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <box>
+ <half_extents>0.000621368 0.000648932 0.0006425</half_extents>
+ </box>
+ <translate>0 0 0</translate>
+ <rotate>1 0 0 0</rotate>
+ <extra>
+ <technique profile="PhysX">
+ <group>0</group>
+ <skinWidth>0.000002485</skinWidth>
+ <disable_collision>true</disable_collision>
+ </technique>
+ </extra>
+ </shape>
+ </technique_common>
+ <extra>
+ <technique profile="PhysX">
+ <wakeUpCounter>0.399999976</wakeUpCounter>
+ <linearDamping>0</linearDamping>
+ <angularDamping>0.050000001</angularDamping>
+ <maxAngularVelocity>12.56637001</maxAngularVelocity>
+ <sleepLinearVelocity>0.150000006</sleepLinearVelocity>
+ <sleepAngularVelocity>0.140000001</sleepAngularVelocity>
+ <solverIterationCount>160</solverIterationCount>
+ <disable_gravity>false</disable_gravity>
+ <kinematic>false</kinematic>
+ <pose_sleep_test>false</pose_sleep_test>
+ <filter_sleep_velocity>false</filter_sleep_velocity>
+ <group>0</group>
+ <disable_collision>true</disable_collision>
+ <disable_response>false</disable_response>
+ <lock_com>true</lock_com>
+ </technique>
+ </extra>
+ </rigid_body>
+ <rigid_body sid="Actor1-RigidBody" name="UR5-2/Size 3_Joint lid_r06_Simple-1">
+ <technique_common>
+ <dynamic>true</dynamic>
+ <mass>0.28596741</mass>
+ <mass_frame>
+ <translate>-0.04411599 0.009393776 -0.000000007</translate>
+ <rotate>0.702155352 -0.119562887 0.701913536 166.204071045</rotate>
+ </mass_frame>
+ <inertia>0.01 0.01 0.01</inertia>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <shape>
+ <density>1</density>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <box>
+ <half_extents>0.000595072 0.000313513 0.000595022</half_extents>
+ </box>
+ <translate>0 0 0</translate>
+ <rotate>1 0 0 0</rotate>
+ <extra>
+ <technique profile="PhysX">
+ <group>0</group>
+ <skinWidth>0.000001254</skinWidth>
+ <disable_collision>true</disable_collision>
+ </technique>
+ </extra>
+ </shape>
+ </technique_common>
+ <extra>
+ <technique profile="PhysX">
+ <wakeUpCounter>0.399999976</wakeUpCounter>
+ <linearDamping>0</linearDamping>
+ <angularDamping>0.050000001</angularDamping>
+ <maxAngularVelocity>12.56637001</maxAngularVelocity>
+ <sleepLinearVelocity>0.150000006</sleepLinearVelocity>
+ <sleepAngularVelocity>0.140000001</sleepAngularVelocity>
+ <solverIterationCount>160</solverIterationCount>
+ <disable_gravity>false</disable_gravity>
+ <kinematic>false</kinematic>
+ <pose_sleep_test>false</pose_sleep_test>
+ <filter_sleep_velocity>false</filter_sleep_velocity>
+ <group>0</group>
+ <disable_collision>true</disable_collision>
+ <disable_response>false</disable_response>
+ <lock_com>true</lock_com>
+ </technique>
+ </extra>
+ </rigid_body>
+ <rigid_body sid="Actor2-RigidBody" name="UR5-2/Size 3_House_r11_Simple-2">
+ <technique_common>
+ <dynamic>true</dynamic>
+ <mass>1.269989491</mass>
+ <mass_frame>
+ <translate>0.012227285 -0.013439028 -0.000000123</translate>
+ <rotate>0.800915182 0.423405886 0.423393786 102.613449097</rotate>
+ </mass_frame>
+ <inertia>0.01 0.01 0.01</inertia>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <shape>
+ <density>1</density>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <box>
+ <half_extents>0.000621368 0.000648932 0.0006425</half_extents>
+ </box>
+ <translate>0 0 0</translate>
+ <rotate>1 0 0 0</rotate>
+ <extra>
+ <technique profile="PhysX">
+ <group>0</group>
+ <skinWidth>0.000002485</skinWidth>
+ <disable_collision>true</disable_collision>
+ </technique>
+ </extra>
+ </shape>
+ </technique_common>
+ <extra>
+ <technique profile="PhysX">
+ <wakeUpCounter>0.399999976</wakeUpCounter>
+ <linearDamping>0</linearDamping>
+ <angularDamping>0.050000001</angularDamping>
+ <maxAngularVelocity>12.56637001</maxAngularVelocity>
+ <sleepLinearVelocity>0.150000006</sleepLinearVelocity>
+ <sleepAngularVelocity>0.140000001</sleepAngularVelocity>
+ <solverIterationCount>160</solverIterationCount>
+ <disable_gravity>false</disable_gravity>
+ <kinematic>false</kinematic>
+ <pose_sleep_test>false</pose_sleep_test>
+ <filter_sleep_velocity>false</filter_sleep_velocity>
+ <group>0</group>
+ <disable_collision>true</disable_collision>
+ <disable_response>false</disable_response>
+ <lock_com>true</lock_com>
+ </technique>
+ </extra>
+ </rigid_body>
+ <rigid_body sid="Actor3-RigidBody" name="UR5-2/Size 3_Over arm_r01_Simpel-1">
+ <technique_common>
+ <dynamic>true</dynamic>
+ <mass>2.281324863</mass>
+ <mass_frame>
+ <translate>0 -0 -0</translate>
+ <rotate>-0.99999994 0 -0 90</rotate>
+ </mass_frame>
+ <inertia>0.01 0.017276373 0.017276373</inertia>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <shape>
+ <density>1</density>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <box>
+ <half_extents>0.000806285 0.000806285 0.00142</half_extents>
+ </box>
+ <translate>0 0 0</translate>
+ <rotate>1 0 0 0</rotate>
+ <extra>
+ <technique profile="PhysX">
+ <group>0</group>
+ <skinWidth>0.000003225</skinWidth>
+ <disable_collision>true</disable_collision>
+ </technique>
+ </extra>
+ </shape>
+ </technique_common>
+ <extra>
+ <technique profile="PhysX">
+ <wakeUpCounter>0.399999976</wakeUpCounter>
+ <linearDamping>0</linearDamping>
+ <angularDamping>0.050000001</angularDamping>
+ <maxAngularVelocity>12.56637001</maxAngularVelocity>
+ <sleepLinearVelocity>0.150000006</sleepLinearVelocity>
+ <sleepAngularVelocity>0.140000001</sleepAngularVelocity>
+ <solverIterationCount>160</solverIterationCount>
+ <disable_gravity>false</disable_gravity>
+ <kinematic>false</kinematic>
+ <pose_sleep_test>false</pose_sleep_test>
+ <filter_sleep_velocity>false</filter_sleep_velocity>
+ <group>0</group>
+ <disable_collision>true</disable_collision>
+ <disable_response>false</disable_response>
+ <lock_com>true</lock_com>
+ </technique>
+ </extra>
+ </rigid_body>
+ <rigid_body sid="Actor4-RigidBody" name="UR5-2/Size 3_Joint lid_r06_Simple-2">
+ <technique_common>
+ <dynamic>true</dynamic>
+ <mass>0.28596741</mass>
+ <mass_frame>
+ <translate>-0.04411599 0.009393776 -0.000000007</translate>
+ <rotate>0.702155352 -0.119562887 0.701913536 166.204071045</rotate>
+ </mass_frame>
+ <inertia>0.01 0.01 0.01</inertia>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <shape>
+ <density>1</density>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <box>
+ <half_extents>0.000595072 0.000313513 0.000595022</half_extents>
+ </box>
+ <translate>0 0 0</translate>
+ <rotate>1 0 0 0</rotate>
+ <extra>
+ <technique profile="PhysX">
+ <group>0</group>
+ <skinWidth>0.000001254</skinWidth>
+ <disable_collision>true</disable_collision>
+ </technique>
+ </extra>
+ </shape>
+ </technique_common>
+ <extra>
+ <technique profile="PhysX">
+ <wakeUpCounter>0.399999976</wakeUpCounter>
+ <linearDamping>0</linearDamping>
+ <angularDamping>0.050000001</angularDamping>
+ <maxAngularVelocity>12.56637001</maxAngularVelocity>
+ <sleepLinearVelocity>0.150000006</sleepLinearVelocity>
+ <sleepAngularVelocity>0.140000001</sleepAngularVelocity>
+ <solverIterationCount>160</solverIterationCount>
+ <disable_gravity>false</disable_gravity>
+ <kinematic>false</kinematic>
+ <pose_sleep_test>false</pose_sleep_test>
+ <filter_sleep_velocity>false</filter_sleep_velocity>
+ <group>0</group>
+ <disable_collision>true</disable_collision>
+ <disable_response>false</disable_response>
+ <lock_com>true</lock_com>
+ </technique>
+ </extra>
+ </rigid_body>
+ </physics_model>
+ <physics_model id="Scene0-PhysicsInstance">
+ <instance_physics_model url="#Scene0-PhysicsModel">
+ <instance_rigid_body target="#Actor0-Node" body="Actor0-RigidBody">
+ <technique_common>
+ <angular_velocity>0 0 0</angular_velocity>
+ <velocity>0 0 0</velocity>
+ </technique_common>
+ </instance_rigid_body>
+ <instance_rigid_body target="#Actor1-Node" body="Actor1-RigidBody">
+ <technique_common>
+ <angular_velocity>0 0 0</angular_velocity>
+ <velocity>0 0 0</velocity>
+ </technique_common>
+ </instance_rigid_body>
+ <instance_rigid_body target="#Actor2-Node" body="Actor2-RigidBody">
+ <technique_common>
+ <angular_velocity>0 0 0</angular_velocity>
+ <velocity>0 0 0</velocity>
+ </technique_common>
+ </instance_rigid_body>
+ <instance_rigid_body target="#Actor3-Node" body="Actor3-RigidBody">
+ <technique_common>
+ <angular_velocity>0 0 0</angular_velocity>
+ <velocity>0 0 0</velocity>
+ </technique_common>
+ </instance_rigid_body>
+ <instance_rigid_body target="#Actor4-Node" body="Actor4-RigidBody">
+ <technique_common>
+ <angular_velocity>0 0 0</angular_velocity>
+ <velocity>0 0 0</velocity>
+ </technique_common>
+ </instance_rigid_body>
+ <extra>
+ <technique profile="PhysX">
+ </technique>
+ </extra>
+ </instance_physics_model>
+ </physics_model>
+ </library_physics_models>
+ <library_physics_scenes>
+ <physics_scene id="SceneInstances-Physics">
+ <instance_physics_model url="#Scene0-PhysicsInstance"/>
+ <technique_common>
+ <gravity>0 0 0</gravity>
+ <time_step>0.000781</time_step>
+ </technique_common>
+ </physics_scene>
+ </library_physics_scenes>
+ <scene>
+ <instance_physics_scene url="#SceneInstances-Physics"/>
+ <instance_visual_scene url="#Scene0-Visual"/>
+ </scene>
+</COLLADA>
diff --git a/universal_robot_description/urdf/robot.urdf.xacro b/universal_robot_description/urdf/robot.urdf.xacro
index 266c1920560e61c47e42c12720187d0d7267fd9c..986966c0432d5bc2cc24f642caab365e88b908a8 100644
--- a/universal_robot_description/urdf/robot.urdf.xacro
+++ b/universal_robot_description/urdf/robot.urdf.xacro
@@ -28,18 +28,27 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<property name="wrist_2_cog" value="0.0 0.0018 0.11099" /> <!-- 0.01634 + 0.09465 = 0.11099-->
<property name="wrist_3_cog" value="0.0 0.001159 0.0" />
- <property name="shoulder_height" value="0.1" /> <!-- not form spec -->
- <property name="shoulder_offset" value="0.089159" />
+ <property name="shoulder_height" value="0.089159" />
+ <property name="shoulder_offset" value="0.13915" /> <!-- sh_off - el_off + wr_1_off = 0.10915 -->
<property name="upper_arm_length" value="0.42500" />
+ <property name="elbow_offset" value="0.130" /> <!-- manually measured -->
<property name="forearm_length" value="0.39225" />
- <property name="wrist_1_length" value="0.10915" />
+ <property name="wrist_1_length" value="0.100" /> <!-- manually measured -->
<property name="wrist_2_length" value="0.09465" />
<property name="wrist_3_length" value="0.0823" />
- <property name="shoulder_radius" value="0.1" /> <!-- not form spec -->
- <property name="upper_arm_radius" value="0.05" /> <!-- not form spec -->
- <property name="forearm_radius" value="0.03" /> <!-- not form spec -->
- <property name="wrist_radius" value="0.03" /> <!-- not form spec -->
+ <property name="shoulder_radius" value="0.060" /> <!-- manually measured -->
+ <property name="upper_arm_radius" value="0.054" /> <!-- manually measured -->
+ <property name="elbow_radius" value="0.060" /> <!-- manually measured -->
+ <property name="forearm_radius" value="0.038" /> <!-- manually measured -->
+ <property name="wrist_radius" value="0.035" /> <!-- manually measured -->
+
+ <property name="base_collision_length" value="0.160" /> <!-- manually measured -->
+ <property name="shoulder_collision_length" value="0.200" /> <!-- manually measured -->
+ <property name="shoulder_collision_offset" value="0.035" /> <!-- manually measured -->
+ <property name="elbow_collision_length" value="0.200" /> <!-- manually measured -->
+ <property name="elbow_collision_offset" value="0.035" /> <!-- manually measured -->
+
<link name="base_link" >
<inertial>
@@ -60,9 +69,9 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<link name="shoulder_link">
<visual>
<geometry>
- <cylinder length="${shoulder_height}" radius="${shoulder_radius}"/>
+ <cylinder length="${base_collision_length}" radius="${shoulder_radius}"/>
</geometry>
- <origin xyz="0.0 0.0 ${-shoulder_height/2.0}" rpy="0.0 0.0 0.0" />
+ <origin xyz="0.0 0.0 ${base_collision_length / 2.0 - shoulder_height}" rpy="0.0 0.0 0.0" />
</visual>
<collision>
<geometry>
@@ -89,9 +98,9 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<link name="upper_arm_link">
<visual>
<geometry>
- <cylinder length="${upper_arm_length}" radius="${upper_arm_radius}"/>
+ <mesh filename="package://universal_robot_description/meshes/UpperArm.dae" />
</geometry>
- <origin xyz="0.0 0.0 ${upper_arm_length/2.0}" rpy="0.0 0.0 0.0" />
+ <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</visual>
<collision>
<geometry>
@@ -109,7 +118,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<joint name="elbow_joint" type="revolute">
<parent link="upper_arm_link" />
<child link = "forearm_link" />
- <origin xyz="0.0 ${-shoulder_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
+ <origin xyz="0.0 ${-elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="0.1" friction="0.1"/>
@@ -243,6 +252,35 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
</collision>
</link>
+
+
+
+ <joint name="shoulder_collision_joint" type="fixed">
+ <parent link="upper_arm_link" />
+ <child link = "shoulder_collision_link" />
+ </joint>
+ <link name="shoulder_collision_link">
+ <collision>
+ <geometry>
+ <cylinder length="${shoulder_collision_length}" radius="${shoulder_radius}"/>
+ </geometry>
+ <origin xyz="0.0 ${-shoulder_collision_offset} 0.0" rpy="${-pi / 2.0} 0.0 0.0" />
+ </collision>
+ </link>
+
+ <joint name="elbow_collision_joint" type="fixed">
+ <parent link="upper_arm_link" />
+ <child link = "elbow_collision_link" />
+ </joint>
+ <link name="elbow_collision_link">
+ <collision>
+ <geometry>
+ <cylinder length="${elbow_collision_length}" radius="${elbow_radius}"/>
+ </geometry>
+ <origin xyz="0.0 ${-elbow_collision_offset} ${upper_arm_length}" rpy="${pi / 2.0} 0.0 0.0" />
+ </collision>
+ </link>
+
<gazebo reference="universal_robot">
<material>Gazebo/Blue</material>
</gazebo>