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Commit 9abb9f66 authored by Wim Meeussen's avatar Wim Meeussen
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added all meshes and completed collision model

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ur5_description/meshes/Base.dae 0 → 100755
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ur5_description/meshes/Forearm.dae 0 → 100755
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ur5_description/meshes/Shoulder.dae 0 → 100755
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ur5_description/meshes/Wrist1.dae 0 → 100755
+ 9024
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ur5_description/meshes/Wrist2.dae 0 → 100755
+ 9024
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ur5_description/meshes/Wrist3.dae 0 → 100755
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ur5_description/urdf/robot.urdf.xacro
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− 40
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......@@ -31,19 +31,19 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<!-- Kinematic model -->
<property name="shoulder_height" value="0.089159" />
<property name="shoulder_offset" value="0.13915" /> <!-- shoulder_offset - elbow_offset + wrrist_1_offset = 0.10915 -->
<property name="shoulder_offset" value="0.13585" /> <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
<property name="upper_arm_length" value="0.42500" />
<property name="elbow_offset" value="0.130" /> <!-- CAD measured -->
<property name="elbow_offset" value="0.1197" /> <!-- CAD measured -->
<property name="forearm_length" value="0.39225" />
<property name="wrist_1_length" value="0.100" /> <!-- CAD measured -->
<property name="wrist_2_length" value="0.09465" />
<property name="wrist_1_length" value="0.093" /> <!-- CAD measured -->
<property name="wrist_2_length" value="0.09465" /> <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
<property name="wrist_3_length" value="0.0823" />
<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="forearm_radius" value="0.040" /> <!-- manually measured -->
<property name="wrist_radius" value="0.045" /> <!-- manually measured -->
<!-- Collision model -->
<property name="base_collision_length" value="0.160" /> <!-- manually measured -->
......@@ -56,6 +56,12 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<link name="base_link" >
<visual>
<geometry>
<mesh filename="package://ur5_description/meshes/Base.dae" />
</geometry>
<origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
</visual>
<inertial>
<mass value="${base_mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
......@@ -74,15 +80,14 @@ 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="${base_collision_length}" radius="${shoulder_radius}"/>
<mesh filename="package://ur5_description/meshes/Shoulder.dae" />
</geometry>
<origin xyz="0.0 0.0 ${base_collision_length / 2.0 - shoulder_height}" rpy="0.0 0.0 0.0" />
</visual>
<collision>
<geometry>
<cylinder length="${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 ${-shoulder_height + (base_collision_length/2.0)}" rpy="0.0 0.0 0.0" />
</collision>
<inertial>
<mass value="${shoulder_mass}" />
......@@ -103,7 +108,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<link name="upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur5_description/meshes/UpperArm.dae" />
<mesh filename="package://ur5_description/meshes/UpperArm.dae" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</visual>
......@@ -132,9 +137,8 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<link name="forearm_link">
<visual>
<geometry>
<cylinder length="${forearm_length}" radius="${forearm_radius}"/>
<mesh filename="package://ur5_description/meshes/Forearm.dae" />
</geometry>
<origin xyz="0.0 0.0 ${forearm_length/2.0}" rpy="0.0 0.0 0.0" />
</visual>
<collision>
<geometry>
......@@ -161,15 +165,15 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<link name="wrist_1_link">
<visual>
<geometry>
<cylinder length="${wrist_1_length}" radius="${wrist_radius}"/>
<mesh filename="package://ur5_description/meshes/Wrist1.dae" />
</geometry>
<origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
</visual>
<collision>
<geometry>
<cylinder length="${wrist_1_length}" radius="${wrist_radius}"/>
<cylinder length="${1.6*wrist_1_length}" radius="${wrist_radius}"/>
</geometry>
<origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
<origin xyz="0.0 ${0.25*wrist_1_length} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
</collision>
<inertial>
<mass value="${wrist_1_mass}" />
......@@ -190,15 +194,15 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<link name="wrist_2_link">
<visual>
<geometry>
<cylinder length="${wrist_2_length}" radius="${wrist_radius}"/>
<mesh filename="package://ur5_description/meshes/Wrist2.dae" />
</geometry>
<origin xyz="0.0 0.0 ${wrist_2_length/2.0}" rpy="0.0 0.0 0.0" />
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
</visual>
<collision>
<geometry>
<cylinder length="${wrist_2_length}" radius="${wrist_radius}"/>
<cylinder length="${1.6*wrist_2_length}" radius="${wrist_radius}"/>
</geometry>
<origin xyz="0.0 0.0 ${wrist_2_length/2.0}" rpy="0.0 0.0 0.0" />
<origin xyz="0.0 0.0 ${0.25*wrist_2_length}" rpy="0.0 0.0 0.0" />
</collision>
<inertial>
<mass value="${wrist_2_mass}" />
......@@ -210,7 +214,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<joint name="wrist_3_joint" type="revolute">
<parent link="wrist_2_link" />
<child link = "wrist_3_link" />
<origin xyz="0.0 0.0 ${wrist_3_length}" rpy="0.0 0.0 0.0" />
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="0.1" friction="0.1"/>
......@@ -219,15 +223,14 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<link name="wrist_3_link">
<visual>
<geometry>
<cylinder length="${wrist_3_length}" radius="${wrist_radius}"/>
<mesh filename="package://ur5_description/meshes/Wrist3.dae" />
</geometry>
<origin xyz="0.0 ${wrist_3_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
</visual>
<collision>
<geometry>
<cylinder length="${wrist_3_length}" radius="${wrist_radius}"/>
<cylinder length="${1.65*wrist_3_length}" radius="${wrist_radius}"/>
</geometry>
<origin xyz="0.0 ${wrist_3_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
<origin xyz="0.0 ${0.15 * wrist_3_length} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
</collision>
<inertial>
<mass value="${wrist_3_mass}" />
......@@ -242,20 +245,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
</joint>
<link name="ee_link">
<visual>
<geometry>
<cylinder length="0.01" radius="${wrist_radius * 1.25}"/>
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} 0.0" />
</visual>
<collision>
<geometry>
<cylinder length="0.01" radius="${wrist_radius * 1.25}"/>
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} 0.0" />
</collision>
</link>
<link name="ee_link" />
......
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