Add Link8 and GripperPart as Link10

asukiaaa · Feb 3, 2019 · c3e13c4 · c3e13c4
1 parent a735297
commit c3e13c4
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Showing 5 changed files with 33 additions and 5 deletions.
diff --git a/pro_moveit_config/config/fake_controllers.yaml b/pro_moveit_config/config/fake_controllers.yaml
@@ -4,4 +4,4 @@ controller_list:
       - Joint1
       - Joint2
       - Joint3
-      - Joint8
+      - Joint10
diff --git a/pro_moveit_config/config/swiftpro.srdf b/pro_moveit_config/config/swiftpro.srdf
@@ -15,16 +15,19 @@
         <link name="Link2" />
         <link name="Link3" />
         <link name="Link8" />
+        <link name="Link10" />
         <joint name="Joint1" />
         <joint name="Joint2" />
         <joint name="Joint3" />
+        <joint name="Joint10" />
         <chain base_link="Base" tip_link="Link3" />
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="home" group="arm">
         <joint name="Joint1" value="0" />
         <joint name="Joint2" value="0" />
         <joint name="Joint3" value="0" />
+        <joint name="Joint10" value="0" />
     </group_state>
     <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
     <passive_joint name="Joint8" />
@@ -73,4 +76,5 @@
     <disable_collisions link1="Link7" link2="Link8" reason="User" />
     <disable_collisions link1="Link7" link2="Link9" reason="Never" />
     <disable_collisions link1="Link8" link2="Link9" reason="Adjacent" />
+    <disable_collisions link1="Link8" link2="Link10" reason="Adjacent" />
 </robot>
diff --git a/swiftpro/urdf/pro_links/GripperPart.STL b/swiftpro/urdf/pro_links/GripperPart.STL
diff --git a/swiftpro/urdf/pro_links/Link8.STL b/swiftpro/urdf/pro_links/Link8.STL
diff --git a/swiftpro/urdf/pro_model.xacro b/swiftpro/urdf/pro_model.xacro
@@ -101,8 +101,6 @@
 </joint>
 
 
-
-
 <link name="Link4">
 	<inertial>
 		<origin xyz="-0.00235 0.013618 0.015458" rpy="0 0 0"/>
@@ -215,12 +213,12 @@
 	<inertial>
 		<origin xyz="0.027288 0.001085 -0.007344" rpy="0 0 0"/>
 		<mass value="0.012"/>
-		<inertia ixx="0.000002184" ixy="0.000000020" ixz="-0.000000207" 
+		<inertia ixx="0.000002184" ixy="0.000000020" ixz="-0.000000207"
 				 iyy="0.000002992" iyz="0.000000371" izz="0.000001832"/>
 	</inertial>
 	<visual>
 		<geometry>
-			<mesh filename="package://swiftpro/urdf/pro_links/Gripper.STL"/>
+			<mesh filename="package://swiftpro/urdf/pro_links/Link8.STL"/>
 		</geometry>
 		<origin xyz = "-0.17201 0 -0.24651" rpy = "0 0 0" />
 		<material name = "">
@@ -265,4 +263,30 @@
 </joint>
 
 
+<link name="Link10">
+	<inertial>
+		<origin xyz="0.027288 0.001085 -0.007344" rpy="0 0 0"/>
+		<mass value="0.012"/>
+		<inertia ixx="0.000002184" ixy="0.000000020" ixz="-0.000000207"
+				 iyy="0.000002992" iyz="0.000000371" izz="0.000001832"/>
+	</inertial>
+	<visual>
+		<geometry>
+			<mesh filename="package://swiftpro/urdf/pro_links/GripperPart.STL"/>
+		</geometry>
+		<origin xyz = "-0.22201 0 -0.24651" rpy = "0 0 0" />
+		<material name = "">
+			<color rgba = "0.3 0.3 0.3 1" />
+		</material>
+	</visual>
+</link>
+
+<joint name="Joint10" type="revolute">
+	<axis xyz="0 0 1"/>
+	<limit effort = "1000.0" lower = "-3" upper = "3" velocity = "0" />
+	<parent link="Link8"/>
+	<child link="Link10"/>
+	<origin xyz= "0.05 0 0" rpy = " 0 0 0" />
+</joint>
+
 </robot>