diff --git a/ur10_moveit_config/config/ur10.srdf b/ur10_moveit_config/config/ur10.srdf
index 34566c81b0eed68e838f4e68723c7c1afbd342a3..9a78749f0345929f42bf7762619a4b452254bc77 100644
--- a/ur10_moveit_config/config/ur10.srdf
+++ b/ur10_moveit_config/config/ur10.srdf
@@ -32,7 +32,6 @@
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="moveit_ee" parent_link="ee_link" group="manipulator" />
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
- <virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_link" link2="upper_arm_link" reason="Never" />
diff --git a/ur_description/launch/test.launch b/ur_description/launch/test.launch
index 57e6b9a334e597c2cf4afe41073c4870740947d8..2d58158c79b3ed20fec4aa3c733ab27214ecaab1 100644
--- a/ur_description/launch/test.launch
+++ b/ur_description/launch/test.launch
@@ -1,7 +1,8 @@
<?xml version="1.0"?>
<launch>
- <param name="use_gui" value="true"/>
- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
+ <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
+ <param name="use_gui" value="true"/>
+ </node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" />
</launch>
diff --git a/ur_description/meshes/ur10/collision/Base.stl b/ur_description/meshes/ur10/collision/Base.stl
deleted file mode 100644
index 0ac507704937ad22a3a9bfa96b304465986e9073..0000000000000000000000000000000000000000
Binary files a/ur_description/meshes/ur10/collision/Base.stl and /dev/null differ
diff --git a/ur_description/meshes/ur10/collision/Forearm.stl b/ur_description/meshes/ur10/collision/Forearm.stl
deleted file mode 100644
index 5a2d56815395d3dfabcaa96c88b5f5e8fd9f2f21..0000000000000000000000000000000000000000
Binary files a/ur_description/meshes/ur10/collision/Forearm.stl and /dev/null differ
diff --git a/ur_description/meshes/ur10/collision/Shoulder.stl b/ur_description/meshes/ur10/collision/Shoulder.stl
deleted file mode 100644
index 4de55907b784289a2a4634253ab2f859f452ea91..0000000000000000000000000000000000000000
Binary files a/ur_description/meshes/ur10/collision/Shoulder.stl and /dev/null differ
diff --git a/ur_description/meshes/ur10/collision/UpperArm.stl b/ur_description/meshes/ur10/collision/UpperArm.stl
deleted file mode 100644
index 3690528f03f001d12278ddcb2e304dbc51c8ef00..0000000000000000000000000000000000000000
Binary files a/ur_description/meshes/ur10/collision/UpperArm.stl and /dev/null differ
diff --git a/ur_description/meshes/ur10/collision/Wrist1.stl b/ur_description/meshes/ur10/collision/Wrist1.stl
deleted file mode 100644
index 6003010b45a24020496d32c8784b91bc0192ce93..0000000000000000000000000000000000000000
Binary files a/ur_description/meshes/ur10/collision/Wrist1.stl and /dev/null differ
diff --git a/ur_description/meshes/ur10/collision/Wrist2.stl b/ur_description/meshes/ur10/collision/Wrist2.stl
deleted file mode 100644
index b3ea078051c9b61bcf06904ecbf3f0fa4b88f1a9..0000000000000000000000000000000000000000
Binary files a/ur_description/meshes/ur10/collision/Wrist2.stl and /dev/null differ
diff --git a/ur_description/meshes/ur10/collision/Wrist3.stl b/ur_description/meshes/ur10/collision/Wrist3.stl
deleted file mode 100644
index 01b26bf93baa6c786e76aec5a1a96f7ca93273f9..0000000000000000000000000000000000000000
Binary files a/ur_description/meshes/ur10/collision/Wrist3.stl and /dev/null differ
diff --git a/ur_description/meshes/ur10/collision/cube.dae b/ur_description/meshes/ur10/collision/cube.dae
deleted file mode 100644
index 4d6584b3696b08d3503d10bb5b0ab961c9b08888..0000000000000000000000000000000000000000
--- a/ur_description/meshes/ur10/collision/cube.dae
+++ /dev/null
@@ -1,63 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
- <asset>
- <contributor>
- <author>VCGLab</author>
- <authoring_tool>VCGLib | MeshLab</authoring_tool>
- </contributor>
- <up_axis>Y_UP</up_axis>
- <created>Tue Feb 19 15:28:14 2013</created>
- <modified>Tue Feb 19 15:28:14 2013</modified>
- </asset>
- <library_images/>
- <library_materials/>
- <library_effects/>
- <library_geometries>
- <geometry id="shape0-lib" name="shape0">
- <mesh>
- <source id="shape0-lib-positions" name="position">
- <float_array id="shape0-lib-positions-array" count="24">0.5 0.5 0.5 -0.5 0.5 0.5 0.5 -0.5 0.5 -0.5 -0.5 0.5 0.5 0.5 -0.5 -0.5 0.5 -0.5 0.5 -0.5 -0.5 -0.5 -0.5 -0.5</float_array>
- <technique_common>
- <accessor count="8" source="#shape0-lib-positions-array" stride="3">
- <param name="X" type="float"/>
- <param name="Y" type="float"/>
- <param name="Z" type="float"/>
- </accessor>
- </technique_common>
- </source>
- <source id="shape0-lib-normals" name="normal">
- <float_array id="shape0-lib-normals-array" count="36">0 0 1 0 0 1 1 0 0 1 0 0 0 1 0 0 1 0 0 0 -1 0 0 -1 0 -1 0 0 -1 0 -1 0 0 -1 0 0</float_array>
- <technique_common>
- <accessor count="12" source="#shape0-lib-normals-array" stride="3">
- <param name="X" type="float"/>
- <param name="Y" type="float"/>
- <param name="Z" type="float"/>
- </accessor>
- </technique_common>
- </source>
- <vertices id="shape0-lib-vertices">
- <input semantic="POSITION" source="#shape0-lib-positions"/>
- </vertices>
- <triangles count="12">
- <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
- <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
- <p>0 0 1 0 2 0 3 1 2 1 1 1 0 2 2 2 4 2 6 3 4 3 2 3 0 4 4 4 1 4 5 5 1 5 4 5 7 6 5 6 6 6 4 7 6 7 5 7 7 8 6 8 3 8 2 9 3 9 6 9 7 10 3 10 5 10 1 11 5 11 3 11</p>
- </triangles>
- </mesh>
- </geometry>
- </library_geometries>
- <library_visual_scenes>
- <visual_scene id="VisualSceneNode" name="VisualScene">
- <node id="node" name="node">
- <instance_geometry url="#shape0-lib">
- <bind_material>
- <technique_common/>
- </bind_material>
- </instance_geometry>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#VisualSceneNode"/>
- </scene>
-</COLLADA>
diff --git a/ur_description/meshes/ur10/visual/Base.stl b/ur_description/meshes/ur10/visual/Base.stl
deleted file mode 100644
index 0ac507704937ad22a3a9bfa96b304465986e9073..0000000000000000000000000000000000000000
Binary files a/ur_description/meshes/ur10/visual/Base.stl and /dev/null differ
diff --git a/ur_description/meshes/ur10/visual/Forearm.stl b/ur_description/meshes/ur10/visual/Forearm.stl
deleted file mode 100644
index 5a2d56815395d3dfabcaa96c88b5f5e8fd9f2f21..0000000000000000000000000000000000000000
Binary files a/ur_description/meshes/ur10/visual/Forearm.stl and /dev/null differ
diff --git a/ur_description/meshes/ur10/visual/Shoulder.stl b/ur_description/meshes/ur10/visual/Shoulder.stl
deleted file mode 100644
index 4de55907b784289a2a4634253ab2f859f452ea91..0000000000000000000000000000000000000000
Binary files a/ur_description/meshes/ur10/visual/Shoulder.stl and /dev/null differ
diff --git a/ur_description/meshes/ur10/visual/UpperArm.stl b/ur_description/meshes/ur10/visual/UpperArm.stl
deleted file mode 100644
index 3690528f03f001d12278ddcb2e304dbc51c8ef00..0000000000000000000000000000000000000000
Binary files a/ur_description/meshes/ur10/visual/UpperArm.stl and /dev/null differ
diff --git a/ur_description/meshes/ur10/visual/Wrist1.stl b/ur_description/meshes/ur10/visual/Wrist1.stl
deleted file mode 100644
index 6003010b45a24020496d32c8784b91bc0192ce93..0000000000000000000000000000000000000000
Binary files a/ur_description/meshes/ur10/visual/Wrist1.stl and /dev/null differ
diff --git a/ur_description/meshes/ur10/visual/Wrist2.stl b/ur_description/meshes/ur10/visual/Wrist2.stl
deleted file mode 100644
index b3ea078051c9b61bcf06904ecbf3f0fa4b88f1a9..0000000000000000000000000000000000000000
Binary files a/ur_description/meshes/ur10/visual/Wrist2.stl and /dev/null differ
diff --git a/ur_description/meshes/ur10/visual/Wrist3.stl b/ur_description/meshes/ur10/visual/Wrist3.stl
deleted file mode 100644
index 01b26bf93baa6c786e76aec5a1a96f7ca93273f9..0000000000000000000000000000000000000000
Binary files a/ur_description/meshes/ur10/visual/Wrist3.stl and /dev/null differ
diff --git a/ur_description/meshes/ur10/visual/cube.dae b/ur_description/meshes/ur10/visual/cube.dae
deleted file mode 100644
index 4d6584b3696b08d3503d10bb5b0ab961c9b08888..0000000000000000000000000000000000000000
--- a/ur_description/meshes/ur10/visual/cube.dae
+++ /dev/null
@@ -1,63 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
- <asset>
- <contributor>
- <author>VCGLab</author>
- <authoring_tool>VCGLib | MeshLab</authoring_tool>
- </contributor>
- <up_axis>Y_UP</up_axis>
- <created>Tue Feb 19 15:28:14 2013</created>
- <modified>Tue Feb 19 15:28:14 2013</modified>
- </asset>
- <library_images/>
- <library_materials/>
- <library_effects/>
- <library_geometries>
- <geometry id="shape0-lib" name="shape0">
- <mesh>
- <source id="shape0-lib-positions" name="position">
- <float_array id="shape0-lib-positions-array" count="24">0.5 0.5 0.5 -0.5 0.5 0.5 0.5 -0.5 0.5 -0.5 -0.5 0.5 0.5 0.5 -0.5 -0.5 0.5 -0.5 0.5 -0.5 -0.5 -0.5 -0.5 -0.5</float_array>
- <technique_common>
- <accessor count="8" source="#shape0-lib-positions-array" stride="3">
- <param name="X" type="float"/>
- <param name="Y" type="float"/>
- <param name="Z" type="float"/>
- </accessor>
- </technique_common>
- </source>
- <source id="shape0-lib-normals" name="normal">
- <float_array id="shape0-lib-normals-array" count="36">0 0 1 0 0 1 1 0 0 1 0 0 0 1 0 0 1 0 0 0 -1 0 0 -1 0 -1 0 0 -1 0 -1 0 0 -1 0 0</float_array>
- <technique_common>
- <accessor count="12" source="#shape0-lib-normals-array" stride="3">
- <param name="X" type="float"/>
- <param name="Y" type="float"/>
- <param name="Z" type="float"/>
- </accessor>
- </technique_common>
- </source>
- <vertices id="shape0-lib-vertices">
- <input semantic="POSITION" source="#shape0-lib-positions"/>
- </vertices>
- <triangles count="12">
- <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
- <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
- <p>0 0 1 0 2 0 3 1 2 1 1 1 0 2 2 2 4 2 6 3 4 3 2 3 0 4 4 4 1 4 5 5 1 5 4 5 7 6 5 6 6 6 4 7 6 7 5 7 7 8 6 8 3 8 2 9 3 9 6 9 7 10 3 10 5 10 1 11 5 11 3 11</p>
- </triangles>
- </mesh>
- </geometry>
- </library_geometries>
- <library_visual_scenes>
- <visual_scene id="VisualSceneNode" name="VisualScene">
- <node id="node" name="node">
- <instance_geometry url="#shape0-lib">
- <bind_material>
- <technique_common/>
- </bind_material>
- </instance_geometry>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#VisualSceneNode"/>
- </scene>
-</COLLADA>
diff --git a/ur_description/urdf/ur10.transmission.xacro b/ur_description/urdf/ur10.transmission.xacro
index 881a12a4efec8255887b11416dc49dfc0a577c52..d4e932573599b9e73d3363d0d50d9344e23c0e2d 100644
--- a/ur_description/urdf/ur10.transmission.xacro
+++ b/ur_description/urdf/ur10.transmission.xacro
@@ -1,62 +1,62 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
- <xacro:macro name="ur10_arm_transmission" params="prefix">
+ <xacro:macro name="ur10_arm_transmission" params="prefix">
- <transmission name="${prefix}shoulder_pan_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="${prefix}shoulder_pan_joint"/>
- <actuator name="${prefix}shoulder_pan_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
-
- <transmission name="${prefix}shoulder_lift_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="${prefix}shoulder_lift_joint"/>
- <actuator name="${prefix}shoulder_lift_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
-
- <transmission name="${prefix}elbow_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="${prefix}elbow_joint"/>
- <actuator name="${prefix}elbow_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
-
- <transmission name="${prefix}wrist_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="${prefix}wrist_1_joint"/>
- <actuator name="${prefix}wrist_1_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
-
- <transmission name="${prefix}wrist_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="${prefix}wrist_2_joint"/>
- <actuator name="${prefix}wrist_2_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
-
- <transmission name="${prefix}wrist_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="${prefix}wrist_3_joint"/>
- <actuator name="${prefix}wrist_3_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
+ <transmission name="${prefix}shoulder_pan_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${prefix}shoulder_pan_joint"/>
+ <actuator name="${prefix}shoulder_pan_motor">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <transmission name="${prefix}shoulder_lift_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${prefix}shoulder_lift_joint"/>
+ <actuator name="${prefix}shoulder_lift_motor">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <transmission name="${prefix}elbow_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${prefix}elbow_joint"/>
+ <actuator name="${prefix}elbow_motor">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <transmission name="${prefix}wrist_1_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${prefix}wrist_1_joint"/>
+ <actuator name="${prefix}wrist_1_motor">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <transmission name="${prefix}wrist_2_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${prefix}wrist_2_joint"/>
+ <actuator name="${prefix}wrist_2_motor">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <transmission name="${prefix}wrist_3_trans">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${prefix}wrist_3_joint"/>
+ <actuator name="${prefix}wrist_3_motor">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
- </xacro:macro>
+ </xacro:macro>
</robot>
diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index 3b0dfb59f7b42be9f27161dfee3ac21b83b28402..c317a437496302701d6af874ecd7c6d3b8dafc0e 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/ur_description/urdf/ur10.urdf.xacro
@@ -56,230 +56,251 @@
<property name="wrist_2_length" value="${ur10_d5}" />
<property name="wrist_3_length" value="${ur10_d6}" />
- <xacro:macro name="ur10_robot" params="prefix">
-
- <link name="${prefix}base_link" >
+ <xacro:macro name="ur10_robot" params="prefix joint_limited">
+
+ <link name="${prefix}base_link" >
+ <visual>
+ <geometry>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Base.dae" scale="${scale}"/>
+ </geometry>
+ <origin xyz="0.0 0.0 0.0" rpy="${pi / 2.0} 0.0 0.0" />
+ <material name="UR/Blue" />
+ </visual>
+
+ <collision>
+ <geometry>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Base.dae" scale="${scale}"/>
+ </geometry>
+ <origin xyz="0.0 0.0 0.0" rpy="${pi / 2.0} 0.0 0.0" />
+ </collision>
+
+ <inertial>
+ <mass value="${base_mass}" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
</link>
- <joint name="${prefix}base_joint" type="fixed">
- <parent link="${prefix}base_link" />
- <child link = "${prefix}ur_base_link" />
- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
- </joint>
-
- <link name="${prefix}ur_base_link" >
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Base.dae" scale="${scale}"/>
- </geometry>
- <origin xyz="0.0 0.0 0.0" rpy="${pi / 2.0} 0.0 0.0" />
- <material name="UR/Blue" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Base.dae" scale="${scale}"/>
- </geometry>
- <origin xyz="0.0 0.0 0.0" rpy="${pi / 2.0} 0.0 0.0" />
- </collision>
-
- <inertial>
- <mass value="${base_mass}" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="${prefix}shoulder_pan_joint" type="revolute">
- <parent link="${prefix}ur_base_link" />
- <child link = "${prefix}shoulder_link" />
- <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 0.0 1.0" />
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="10" friction="0.1"/>
- </joint>
+ <joint name="${prefix}shoulder_pan_joint" type="revolute">
+ <parent link="${prefix}base_link" />
+ <child link = "${prefix}shoulder_link" />
+ <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
+ <axis xyz="0.0 0.0 1.0" />
+ <xacro:unless value="${joint_limited}">
+ <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
+ </xacro:unless>
+ <xacro:if value="${joint_limited}">
+ <limit lower="${-pi}" upper="${pi}" effort="330.0" velocity="2.16"/>
+ </xacro:if>
+ <dynamics damping="10" friction="0.1"/>
+ </joint>
- <link name="${prefix}shoulder_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.dae" scale="${scale}"/>
- </geometry>
+ <link name="${prefix}shoulder_link">
+ <visual>
+ <geometry>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.dae" scale="${scale}"/>
+ </geometry>
<origin rpy="${pi / 2.0} 0.0 0.0" xyz="0.0 0.0 -0.127"/> <!-- -0.127 ???? -->
- <material name="UR/Grey" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.dae" scale="${scale}"/>
- </geometry>
- <origin rpy="${pi / 2.0} 0.0 0.0" xyz="0.0 0.0 -0.127"/> <!-- -0.127 ???? -->
- </collision>
-
- <inertial>
- <mass value="${shoulder_mass}" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin xyz="${shoulder_cog}" rpy="0.0 0.0 0.0" />
- </inertial>
- </link>
-
- <joint name="${prefix}shoulder_lift_joint" type="revolute">
- <parent link="${prefix}shoulder_link" />
- <child link = "${prefix}upper_arm_link" />
- <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="10" friction="0.1"/>
- </joint>
-
- <link name="${prefix}upper_arm_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.dae" scale="${scale}"/>
- </geometry>
- <origin xyz="0.0 -0.221 -0.127" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset-->
- <material name="UR/Blue" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.dae" scale="${scale}"/>
- </geometry>
- <origin xyz="0.0 -0.221 -0.127" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset-->
- </collision>
-
- <inertial>
- <mass value="${upper_arm_mass}" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin xyz="${upper_arm_cog}" rpy="0.0 0.0 0.0" />
- </inertial>
- </link>
-
- <joint name="${prefix}elbow_joint" type="revolute">
- <parent link="${prefix}upper_arm_link" />
- <child link = "${prefix}forearm_link" />
- <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="10" friction="0.1"/>
- </joint>
-
- <link name="${prefix}forearm_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Forearm.dae" scale="${scale}"/>
- </geometry>
- <origin xyz="0.0 -0.049 -0.739" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset -->
- <material name="UR/Grey" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Forearm.dae" scale="${scale}"/>
- </geometry>
- <origin xyz="0.0 -0.049 -0.739" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset -->
- </collision>
-
- <inertial>
- <mass value="${forearm_mass}" />
- <origin xyz="${forearm_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="${prefix}wrist_1_joint" type="revolute">
- <parent link="${prefix}forearm_link" />
- <child link = "${prefix}wrist_1_link" />
- <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="10" friction="0.1"/>
- </joint>
-
- <link name="${prefix}wrist_1_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Wrist1.dae" scale="${scale}"/>
- </geometry>
- <origin xyz="0.0 -0.049 -1.312" rpy="${pi / 2.0} 0 0.0" /> <!-- new offset -->
- <material name="UR/Blue" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.dae" scale="${scale}"/>
- </geometry>
- <origin xyz="0.0 -0.049 -1.312" rpy="${pi / 2.0} 0 0.0" /> <!-- new offset -->
- </collision>
-
- <inertial>
- <mass value="${wrist_1_mass}" />
- <origin xyz="${wrist_1_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="${prefix}wrist_2_joint" type="revolute">
- <parent link="${prefix}wrist_1_link" />
- <child link = "${prefix}wrist_2_link" />
- <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 0.0 1.0" />
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="10" friction="0.1"/>
- </joint>
-
- <link name="${prefix}wrist_2_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Wrist2.dae" scale="${scale}"/>
- </geometry>
- <origin xyz="0.0 -0.164 -1.312" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset -->
- <material name="UR/Grey" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.dae" scale="${scale}"/>
- </geometry>
- <origin xyz="0.0 -0.164 -1.312" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset -->
- </collision>
-
- <inertial>
- <mass value="${wrist_2_mass}" />
- <origin xyz="${wrist_2_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="${prefix}wrist_3_joint" type="revolute">
- <parent link="${prefix}wrist_2_link" />
- <child link = "${prefix}wrist_3_link" />
- <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="10" friction="0.1"/>
- </joint>
-
- <link name="${prefix}wrist_3_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Wrist3.dae" scale="${scale}"/>
- </geometry>
- <origin xyz="0.0 -0.164 -1.427" rpy="${pi / 2.0} 0.0 0" /> <!-- new offset -->
- <material name="UR/Blue" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.dae" scale="${scale}"/>
- </geometry>
- <origin xyz="0.0 -0.164 -1.427" rpy="${pi / 2.0} 0.0 0" /> <!-- new offset -->
- </collision>
-
- <inertial>
- <mass value="${wrist_3_mass}" />
- <origin xyz="${wrist_3_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
+ <material name="UR/Grey" />
+ </visual>
+
+ <collision>
+ <geometry>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.dae" scale="${scale}"/>
+ </geometry>
+ <origin rpy="${pi / 2.0} 0.0 0.0" xyz="0.0 0.0 -0.127"/> <!-- -0.127 ???? -->
+ </collision>
+
+ <inertial>
+ <mass value="${shoulder_mass}" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ <origin xyz="${shoulder_cog}" rpy="0.0 0.0 0.0" />
+ </inertial>
+ </link>
+
+ <joint name="${prefix}shoulder_lift_joint" type="revolute">
+ <parent link="${prefix}shoulder_link" />
+ <child link = "${prefix}upper_arm_link" />
+ <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
+ <axis xyz="0.0 1.0 0.0" />
+ <xacro:unless value="${joint_limited}">
+ <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
+ </xacro:unless>
+ <xacro:if value="${joint_limited}">
+ <limit lower="${-pi}" upper="${pi}" effort="330.0" velocity="2.16"/>
+ </xacro:if>
+ <dynamics damping="10" friction="0.1"/>
+ </joint>
+
+ <link name="${prefix}upper_arm_link">
+ <visual>
+ <geometry>
+ <mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.dae" scale="${scale}"/>
+ </geometry>
+ <origin xyz="0.0 -0.221 -0.127" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset-->
+ <material name="UR/Blue" />
+ </visual>
+
+ <collision>
+ <geometry>
+ <mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.dae" scale="${scale}"/>
+ </geometry>
+ <origin xyz="0.0 -0.221 -0.127" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset-->
+ </collision>
+
+ <inertial>
+ <mass value="${upper_arm_mass}" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ <origin xyz="${upper_arm_cog}" rpy="0.0 0.0 0.0" />
+ </inertial>
+ </link>
+
+ <joint name="${prefix}elbow_joint" type="revolute">
+ <parent link="${prefix}upper_arm_link" />
+ <child link = "${prefix}forearm_link" />
+ <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
+ <axis xyz="0.0 1.0 0.0" />
+ <xacro:unless value="${joint_limited}">
+ <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
+ </xacro:unless>
+ <xacro:if value="${joint_limited}">
+ <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
+ </xacro:if>
+ <dynamics damping="10" friction="0.1"/>
+ </joint>
+
+ <link name="${prefix}forearm_link">
+ <visual>
+ <geometry>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Forearm.dae" scale="${scale}"/>
+ </geometry>
+ <origin xyz="0.0 -0.049 -0.739" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset -->
+ <material name="UR/Grey" />
+ </visual>
+
+ <collision>
+ <geometry>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Forearm.dae" scale="${scale}"/>
+ </geometry>
+ <origin xyz="0.0 -0.049 -0.739" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset -->
+ </collision>
+
+ <inertial>
+ <mass value="${forearm_mass}" />
+ <origin xyz="${forearm_cog}" rpy="0.0 0.0 0.0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ </link>
+
+ <joint name="${prefix}wrist_1_joint" type="revolute">
+ <parent link="${prefix}forearm_link" />
+ <child link = "${prefix}wrist_1_link" />
+ <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
+ <axis xyz="0.0 1.0 0.0" />
+ <xacro:unless value="${joint_limited}">
+ <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
+ </xacro:unless>
+ <xacro:if value="${joint_limited}">
+ <limit lower="${-pi}" upper="${pi}" effort="54.0" velocity="3.2"/>
+ </xacro:if>
+ <dynamics damping="10" friction="0.1"/>
+ </joint>
+
+ <link name="${prefix}wrist_1_link">
+ <visual>
+ <geometry>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Wrist1.dae" scale="${scale}"/>
+ </geometry>
+ <origin xyz="0.0 -0.049 -1.312" rpy="${pi / 2.0} 0 0.0" /> <!-- new offset -->
+ <material name="UR/Blue" />
+ </visual>
+
+ <collision>
+ <geometry>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.dae" scale="${scale}"/>
+ </geometry>
+ <origin xyz="0.0 -0.049 -1.312" rpy="${pi / 2.0} 0 0.0" /> <!-- new offset -->
+ </collision>
+
+ <inertial>
+ <mass value="${wrist_1_mass}" />
+ <origin xyz="${wrist_1_cog}" rpy="0.0 0.0 0.0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ </link>
+
+ <joint name="${prefix}wrist_2_joint" type="revolute">
+ <parent link="${prefix}wrist_1_link" />
+ <child link = "${prefix}wrist_2_link" />
+ <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
+ <axis xyz="0.0 0.0 1.0" />
+ <xacro:unless value="${joint_limited}">
+ <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
+ </xacro:unless>
+ <xacro:if value="${joint_limited}">
+ <limit lower="${-pi}" upper="${pi}" effort="54.0" velocity="3.2"/>
+ </xacro:if>
+ <dynamics damping="10" friction="0.1"/>
+ </joint>
+
+ <link name="${prefix}wrist_2_link">
+ <visual>
+ <geometry>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Wrist2.dae" scale="${scale}"/>
+ </geometry>
+ <origin xyz="0.0 -0.164 -1.312" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset -->
+ <material name="UR/Grey" />
+ </visual>
+
+ <collision>
+ <geometry>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.dae" scale="${scale}"/>
+ </geometry>
+ <origin xyz="0.0 -0.164 -1.312" rpy="${pi / 2.0} 0.0 0.0" /> <!-- new offset -->
+ </collision>
+
+ <inertial>
+ <mass value="${wrist_2_mass}" />
+ <origin xyz="${wrist_2_cog}" rpy="0.0 0.0 0.0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ </link>
+
+ <joint name="${prefix}wrist_3_joint" type="revolute">
+ <parent link="${prefix}wrist_2_link" />
+ <child link = "${prefix}wrist_3_link" />
+ <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
+ <axis xyz="0.0 1.0 0.0" />
+ <xacro:unless value="${joint_limited}">
+ <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
+ </xacro:unless>
+ <xacro:if value="${joint_limited}">
+ <limit lower="${-pi}" upper="${pi}" effort="54.0" velocity="3.2"/>
+ </xacro:if>
+ <dynamics damping="10" friction="0.1"/>
+ </joint>
+
+ <link name="${prefix}wrist_3_link">
+ <visual>
+ <geometry>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Wrist3.dae" scale="${scale}"/>
+ </geometry>
+ <origin xyz="0.0 -0.164 -1.427" rpy="${pi / 2.0} 0.0 0" /> <!-- new offset -->
+ <material name="UR/Blue" />
+ </visual>
+
+ <collision>
+ <geometry>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.dae" scale="${scale}"/>
+ </geometry>
+ <origin xyz="0.0 -0.164 -1.427" rpy="${pi / 2.0} 0.0 0" /> <!-- new offset -->
+ </collision>
+
+ <inertial>
+ <mass value="${wrist_3_mass}" />
+ <origin xyz="${wrist_3_cog}" rpy="0.0 0.0 0.0" />
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
+ </link>
<joint name="${prefix}ee_fixed_joint" type="fixed">
<parent link="${prefix}wrist_3_link" />
diff --git a/ur_description/urdf/ur10_joint_limited_robot.urdf b/ur_description/urdf/ur10_joint_limited_robot.urdf
index 3498e38a5a27eddfbde8ffc68e6ac8ad4586bd2b..8e7d341d22bf29e6eb4cb6bfbedac5261ed2f165 100644
--- a/ur_description/urdf/ur10_joint_limited_robot.urdf
+++ b/ur_description/urdf/ur10_joint_limited_robot.urdf
@@ -36,16 +36,16 @@
<link name="base_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Base.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Base.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0.0 2.3561944875" xyz="0.0 0.0 0.003"/>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 0.0 0.0"/>
<material name="UR/Blue"/>
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Base.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Base.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0.0 2.3561944875" xyz="0.0 0.0 0.003"/>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 0.0 0.0"/>
</collision>
<inertial>
<mass value="4.0"/>
@@ -55,171 +55,187 @@
<joint name="shoulder_pan_joint" type="revolute">
<parent link="base_link"/>
<child link="shoulder_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.128"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1273"/>
<axis xyz="0.0 0.0 1.0"/>
<limit effort="330.0" lower="-3.14159265" upper="3.14159265" velocity="2.16"/>
- <dynamics damping="1.2" friction="0.0"/>
+ <dynamics damping="10" friction="0.1"/>
</joint>
<link name="shoulder_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.dae" scale="0.001 0.001 0.001"/>
</geometry>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 0.0 -0.127"/>
+ <!-- -0.127 ???? -->
<material name="UR/Grey"/>
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.dae" scale="0.001 0.001 0.001"/>
</geometry>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 0.0 -0.127"/>
+ <!-- -0.127 ???? -->
</collision>
<inertial>
- <mass value="3.7"/>
+ <mass value="7.778"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.00193 -0.02561"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00008 0.00244 -0.037"/>
</inertial>
</link>
<joint name="shoulder_lift_joint" type="revolute">
<parent link="shoulder_link"/>
<child link="upper_arm_link"/>
- <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.1704 0.0"/>
+ <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.220941 0.0"/>
<axis xyz="0.0 1.0 0.0"/>
- <limit effort="10.0" lower="-3.14159265" upper="3.14159265" velocity="3.14159265"/>
- <dynamics damping="1.2" friction="0.0"/>
+ <limit effort="330.0" lower="-3.14159265" upper="3.14159265" velocity="2.16"/>
+ <dynamics damping="10" friction="0.1"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.221 -0.127"/>
+ <!-- new offset-->
<material name="UR/Blue"/>
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.221 -0.127"/>
+ <!-- new offset-->
</collision>
<inertial>
- <mass value="8.393"/>
+ <mass value="12.93"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.024201 0.2125"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00001 0.15061 0.38757"/>
</inertial>
</link>
<joint name="elbow_joint" type="revolute">
<parent link="upper_arm_link"/>
<child link="forearm_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.12817 0.60186"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1719 0.612"/>
<axis xyz="0.0 1.0 0.0"/>
- <limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.14159265"/>
- <dynamics damping="0.6" friction="0.0"/>
+ <limit effort="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
+ <dynamics damping="10" friction="0.1"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Forearm.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Forearm.dae" scale="0.001 0.001 0.001"/>
</geometry>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.049 -0.739"/>
+ <!-- new offset -->
<material name="UR/Grey"/>
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Forearm.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Forearm.dae" scale="0.001 0.001 0.001"/>
</geometry>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.049 -0.739"/>
+ <!-- new offset -->
</collision>
<inertial>
- <mass value="2.275"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0265 0.11993"/>
+ <mass value="3.87"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.00012 0.06112 0.1984"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="wrist_1_joint" type="revolute">
<parent link="forearm_link"/>
<child link="wrist_1_link"/>
- <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.56415"/>
+ <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.5723"/>
<axis xyz="0.0 1.0 0.0"/>
- <limit effort="54.0" lower="-3.14159265" upper="3.14159265" velocity="3.14159265"/>
- <dynamics damping="0.6" friction="0.0"/>
+ <limit effort="54.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
+ <dynamics damping="10" friction="0.1"/>
</joint>
<link name="wrist_1_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Wrist1.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Wrist1.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0 0.0" xyz="0.0 0.11279 0.0"/>
+ <origin rpy="1.570796325 0 0.0" xyz="0.0 -0.049 -1.312"/>
+ <!-- new offset -->
<material name="UR/Blue"/>
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0 0.0" xyz="0.0 0.11279 0.0"/>
+ <origin rpy="1.570796325 0 0.0" xyz="0.0 -0.049 -1.312"/>
+ <!-- new offset -->
</collision>
<inertial>
- <mass value="1.219"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.110949 0.01634"/>
+ <mass value="1.96"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.00021 -0.00112 0.02269"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="wrist_2_joint" type="revolute">
<parent link="wrist_1_link"/>
<child link="wrist_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.11279 0.0"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.1149 0.0"/>
<axis xyz="0.0 0.0 1.0"/>
- <limit effort="54.0" lower="-3.14159265" upper="3.14159265" velocity="3.14159265"/>
- <dynamics damping="0.6" friction="0.0"/>
+ <limit effort="54.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
+ <dynamics damping="10" friction="0.1"/>
</joint>
<link name="wrist_2_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Wrist2.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Wrist2.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.11279"/>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.164 -1.312"/>
+ <!-- new offset -->
<material name="UR/Grey"/>
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.11279"/>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.164 -1.312"/>
+ <!-- new offset -->
</collision>
<inertial>
- <mass value="1.219"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0018 0.11099"/>
+ <mass value="1.96"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.00021 0.00112 0.002269"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="wrist_3_joint" type="revolute">
<parent link="wrist_2_link"/>
<child link="wrist_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.11279"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1157"/>
<axis xyz="0.0 1.0 0.0"/>
- <limit effort="54.0" lower="-3.14159265" upper="3.14159265" velocity="3.14159265"/>
- <dynamics damping="0.6" friction="0.0"/>
+ <limit effort="54.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
+ <dynamics damping="10" friction="0.1"/>
</joint>
<link name="wrist_3_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Wrist3.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Wrist3.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0.0 0" xyz="0.0 0.0857 0.0"/>
+ <origin rpy="1.570796325 0.0 0" xyz="0.0 -0.164 -1.427"/>
+ <!-- new offset -->
<material name="UR/Blue"/>
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0.0 0" xyz="0.0 0.0857 0.0"/>
+ <origin rpy="1.570796325 0.0 0" xyz="0.0 -0.164 -1.427"/>
+ <!-- new offset -->
</collision>
<inertial>
- <mass value="0.1879"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.001159 0.0"/>
+ <mass value="0.202"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0 -0.001156 -0.00149"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="ee_fixed_joint" type="fixed">
<parent link="wrist_3_link"/>
<child link="ee_link"/>
- <origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0857 0.0"/>
+ <origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/>
</joint>
<link name="ee_link"/>
<transmission name="shoulder_pan_trans">
@@ -298,4 +314,13 @@
<material value="Gazebo/Grey"/>
<turnGravityOff>false</turnGravityOff>
</gazebo>
+ <!-- grounding link (needed for MoveIt! compatability -->
+ <link name="world">
+ </link>
+ <joint name="world_joint" type="fixed">
+ <parent link="world"/>
+ <child link="base_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ </joint>
</robot>
+
diff --git a/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro b/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro
index 577465b070a1816cfd11d8fd78333a5643e4bdca..b59ff435290acc69554b25f20ac464b7337f69dd 100644
--- a/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro
+++ b/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro
@@ -6,11 +6,20 @@
<xacro:include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />
<!-- ur10 -->
- <xacro:include filename="$(find ur_description)/urdf/ur10_joint_limited.urdf.xacro" />
+ <xacro:include filename="$(find ur_description)/urdf/ur10.urdf.xacro" />
<!-- arm -->
- <xacro:ur10_robot prefix="">
+ <xacro:ur10_robot prefix="" joint_limited="true">
</xacro:ur10_robot>
+ <!-- grounding link (needed for MoveIt! compatability -->
+ <link name="world" >
+ </link>
+
+ <joint name="world_joint" type="fixed">
+ <parent link="world" />
+ <child link = "base_link" />
+ <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+ </joint>
</robot>
diff --git a/ur_description/urdf/ur10_robot.urdf b/ur_description/urdf/ur10_robot.urdf
index fb48ec26fb94feddae88fdcbb6f26a9c2b735938..f06a265883679a9500e35f077fca9a7a2113a2ac 100644
--- a/ur_description/urdf/ur10_robot.urdf
+++ b/ur_description/urdf/ur10_robot.urdf
@@ -36,16 +36,16 @@
<link name="base_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Base.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Base.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0.0 2.3561944875" xyz="0.0 0.0 0.003"/>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 0.0 0.0"/>
<material name="UR/Blue"/>
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Base.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Base.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0.0 2.3561944875" xyz="0.0 0.0 0.003"/>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 0.0 0.0"/>
</collision>
<inertial>
<mass value="4.0"/>
@@ -55,171 +55,187 @@
<joint name="shoulder_pan_joint" type="revolute">
<parent link="base_link"/>
<child link="shoulder_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.128"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1273"/>
<axis xyz="0.0 0.0 1.0"/>
<limit effort="330.0" lower="-6.2831853" upper="6.2831853" velocity="2.16"/>
- <dynamics damping="1.2" friction="0.0"/>
+ <dynamics damping="10" friction="0.1"/>
</joint>
<link name="shoulder_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.dae" scale="0.001 0.001 0.001"/>
</geometry>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 0.0 -0.127"/>
+ <!-- -0.127 ???? -->
<material name="UR/Grey"/>
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.dae" scale="0.001 0.001 0.001"/>
</geometry>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 0.0 -0.127"/>
+ <!-- -0.127 ???? -->
</collision>
<inertial>
- <mass value="3.7"/>
+ <mass value="7.778"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.00193 -0.02561"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00008 0.00244 -0.037"/>
</inertial>
</link>
<joint name="shoulder_lift_joint" type="revolute">
<parent link="shoulder_link"/>
<child link="upper_arm_link"/>
- <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.1704 0.0"/>
+ <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.220941 0.0"/>
<axis xyz="0.0 1.0 0.0"/>
- <limit effort="10.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
- <dynamics damping="1.2" friction="0.0"/>
+ <limit effort="330.0" lower="-6.2831853" upper="6.2831853" velocity="2.16"/>
+ <dynamics damping="10" friction="0.1"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.221 -0.127"/>
+ <!-- new offset-->
<material name="UR/Blue"/>
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.221 -0.127"/>
+ <!-- new offset-->
</collision>
<inertial>
- <mass value="8.393"/>
+ <mass value="12.93"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.024201 0.2125"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.00001 0.15061 0.38757"/>
</inertial>
</link>
<joint name="elbow_joint" type="revolute">
<parent link="upper_arm_link"/>
<child link="forearm_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.12817 0.60186"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1719 0.612"/>
<axis xyz="0.0 1.0 0.0"/>
- <limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
- <dynamics damping="0.6" friction="0.0"/>
+ <limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.15"/>
+ <dynamics damping="10" friction="0.1"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Forearm.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Forearm.dae" scale="0.001 0.001 0.001"/>
</geometry>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.049 -0.739"/>
+ <!-- new offset -->
<material name="UR/Grey"/>
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Forearm.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Forearm.dae" scale="0.001 0.001 0.001"/>
</geometry>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.049 -0.739"/>
+ <!-- new offset -->
</collision>
<inertial>
- <mass value="2.275"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0265 0.11993"/>
+ <mass value="3.87"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.00012 0.06112 0.1984"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="wrist_1_joint" type="revolute">
<parent link="forearm_link"/>
<child link="wrist_1_link"/>
- <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.56415"/>
+ <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.5723"/>
<axis xyz="0.0 1.0 0.0"/>
- <limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
- <dynamics damping="0.6" friction="0.0"/>
+ <limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
+ <dynamics damping="10" friction="0.1"/>
</joint>
<link name="wrist_1_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Wrist1.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Wrist1.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0 0.0" xyz="0.0 0.11279 0.0"/>
+ <origin rpy="1.570796325 0 0.0" xyz="0.0 -0.049 -1.312"/>
+ <!-- new offset -->
<material name="UR/Blue"/>
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0 0.0" xyz="0.0 0.11279 0.0"/>
+ <origin rpy="1.570796325 0 0.0" xyz="0.0 -0.049 -1.312"/>
+ <!-- new offset -->
</collision>
<inertial>
- <mass value="1.219"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.110949 0.01634"/>
+ <mass value="1.96"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.00021 -0.00112 0.02269"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="wrist_2_joint" type="revolute">
<parent link="wrist_1_link"/>
<child link="wrist_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.11279 0.0"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.1149 0.0"/>
<axis xyz="0.0 0.0 1.0"/>
- <limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
- <dynamics damping="0.6" friction="0.0"/>
+ <limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
+ <dynamics damping="10" friction="0.1"/>
</joint>
<link name="wrist_2_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Wrist2.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Wrist2.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.11279"/>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.164 -1.312"/>
+ <!-- new offset -->
<material name="UR/Grey"/>
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.11279"/>
+ <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.164 -1.312"/>
+ <!-- new offset -->
</collision>
<inertial>
- <mass value="1.219"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0018 0.11099"/>
+ <mass value="1.96"/>
+ <origin rpy="0.0 0.0 0.0" xyz="-0.00021 0.00112 0.002269"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="wrist_3_joint" type="revolute">
<parent link="wrist_2_link"/>
<child link="wrist_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.11279"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1157"/>
<axis xyz="0.0 1.0 0.0"/>
- <limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
- <dynamics damping="0.6" friction="0.0"/>
+ <limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
+ <dynamics damping="10" friction="0.1"/>
</joint>
<link name="wrist_3_link">
<visual>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Wrist3.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/visual/Wrist3.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0.0 0" xyz="0.0 0.0857 0.0"/>
+ <origin rpy="1.570796325 0.0 0" xyz="0.0 -0.164 -1.427"/>
+ <!-- new offset -->
<material name="UR/Blue"/>
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.stl"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.dae" scale="0.001 0.001 0.001"/>
</geometry>
- <origin rpy="0.0 0.0 0" xyz="0.0 0.0857 0.0"/>
+ <origin rpy="1.570796325 0.0 0" xyz="0.0 -0.164 -1.427"/>
+ <!-- new offset -->
</collision>
<inertial>
- <mass value="0.1879"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.001159 0.0"/>
+ <mass value="0.202"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0 -0.001156 -0.00149"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="ee_fixed_joint" type="fixed">
<parent link="wrist_3_link"/>
<child link="ee_link"/>
- <origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0857 0.0"/>
+ <origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/>
</joint>
<link name="ee_link"/>
<transmission name="shoulder_pan_trans">
@@ -298,4 +314,13 @@
<material value="Gazebo/Grey"/>
<turnGravityOff>false</turnGravityOff>
</gazebo>
+ <!-- grounding link (needed for MoveIt! compatability -->
+ <link name="world">
+ </link>
+ <joint name="world_joint" type="fixed">
+ <parent link="world"/>
+ <child link="base_link"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ </joint>
</robot>
+
diff --git a/ur_description/urdf/ur10_robot.urdf.xacro b/ur_description/urdf/ur10_robot.urdf.xacro
index f36ead5b2440fca3ded9de70e8611f152fbc5a7a..5a4e762c8f8dcdf808f9e3c91beb1a4b10911a73 100644
--- a/ur_description/urdf/ur10_robot.urdf.xacro
+++ b/ur_description/urdf/ur10_robot.urdf.xacro
@@ -9,8 +9,18 @@
<xacro:include filename="$(find ur_description)/urdf/ur10.urdf.xacro" />
<!-- arm -->
- <xacro:ur10_robot prefix="">
+ <xacro:ur10_robot prefix="" joint_limited="false">
</xacro:ur10_robot>
+ <!-- grounding link (needed for MoveIt! compatability -->
+ <link name="world" >
+ </link>
+
+ <joint name="world_joint" type="fixed">
+ <parent link="world" />
+ <child link = "base_link" />
+ <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+ </joint>
+
</robot>