model revamp
</link>
<link name="${arm_id}_base1">
</link>
+ <link name="${arm_id}_base_arm">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://${description_pkg}/meshes/visual/omron.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0.19" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.68 0.47 0.38" />
+ </geometry>
+ </collision>
+ </link>
<joint name="${arm_id}_base_joint1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="${arm_id}_base0"/>
<limit effort="87" lower="-999999" upper="999999" velocity="4.0"/>
</joint>
<joint name="${arm_id}_base_joint2" type="prismatic">
- <origin rpy="0 0 0" xyz="0 0 0.38"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="${arm_id}_base1"/>
- <child link="${arm_id}_link0"/>
+ <child link="${arm_id}_base_arm"/>
<axis xyz="1 0 0"/>
<limit effort="87" lower="-999999" upper="999999" velocity="4.0"/>
</joint>
+ <joint name="${arm_id}_base_arm_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0.15 0 0.38"/>
+ <parent link="${arm_id}_base_arm"/>
+ <child link="${arm_id}_link0"/>
+ </joint>
+
<link name="${arm_id}_link0">
<visual>
- <!-- <origin xyz="0 0 -0.15" rpy="0 0 0"/> -->
- <origin xyz="0 0 -0.38" rpy="0 0 0"/>
- <geometry>
- <!-- <box size="0.6 0.4 0.3" /> -->
- <mesh filename="package://${description_pkg}/meshes/visual/omron.dae"/>
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 -0.19" rpy="0 0 0"/>
- <geometry>
- <box size="0.68 0.47 0.38" />
- </geometry>
- </collision>
- <visual>
- <origin xyz="0.15 0 0" rpy="0 0 0"/>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://${description_pkg}/meshes/visual/link0.dae"/>
</geometry>
</link>
<joint name="${arm_id}_joint1" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
- <origin rpy="0 0 0" xyz="0.15 0 0.333"/>
+ <origin rpy="0 0 0" xyz="0 0 0.333"/>
<parent link="${arm_id}_link0"/>
<child link="${arm_id}_link1"/>
<axis xyz="0 0 1"/>
