m10ia: update urdfs based on DH data. For ros-industrial#54 and ros-i…

…ndustrial#63.
gavanderhoorn · Apr 13, 2014 · 6a710f5 · 6a710f5
1 parent b8af244
commit 6a710f5
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Showing 16 changed files with 19 additions and 19 deletions.
diff --git a/fanuc_m10ia_support/meshes/m10ia/collision/base_link.stl b/fanuc_m10ia_support/meshes/m10ia/collision/base_link.stl
diff --git a/fanuc_m10ia_support/meshes/m10ia/collision/link_1.stl b/fanuc_m10ia_support/meshes/m10ia/collision/link_1.stl
diff --git a/fanuc_m10ia_support/meshes/m10ia/collision/link_2.stl b/fanuc_m10ia_support/meshes/m10ia/collision/link_2.stl
diff --git a/fanuc_m10ia_support/meshes/m10ia/collision/link_3.stl b/fanuc_m10ia_support/meshes/m10ia/collision/link_3.stl
diff --git a/fanuc_m10ia_support/meshes/m10ia/collision/link_4.stl b/fanuc_m10ia_support/meshes/m10ia/collision/link_4.stl
diff --git a/fanuc_m10ia_support/meshes/m10ia/collision/link_5.stl b/fanuc_m10ia_support/meshes/m10ia/collision/link_5.stl
diff --git a/fanuc_m10ia_support/meshes/m10ia/collision/link_6.stl b/fanuc_m10ia_support/meshes/m10ia/collision/link_6.stl
diff --git a/fanuc_m10ia_support/meshes/m10ia/visual/base_link.stl b/fanuc_m10ia_support/meshes/m10ia/visual/base_link.stl
diff --git a/fanuc_m10ia_support/meshes/m10ia/visual/link_1.stl b/fanuc_m10ia_support/meshes/m10ia/visual/link_1.stl
diff --git a/fanuc_m10ia_support/meshes/m10ia/visual/link_2.stl b/fanuc_m10ia_support/meshes/m10ia/visual/link_2.stl
diff --git a/fanuc_m10ia_support/meshes/m10ia/visual/link_3.stl b/fanuc_m10ia_support/meshes/m10ia/visual/link_3.stl
diff --git a/fanuc_m10ia_support/meshes/m10ia/visual/link_4.stl b/fanuc_m10ia_support/meshes/m10ia/visual/link_4.stl
diff --git a/fanuc_m10ia_support/meshes/m10ia/visual/link_5.stl b/fanuc_m10ia_support/meshes/m10ia/visual/link_5.stl
diff --git a/fanuc_m10ia_support/meshes/m10ia/visual/link_6.stl b/fanuc_m10ia_support/meshes/m10ia/visual/link_6.stl
diff --git a/fanuc_m10ia_support/urdf/m10ia.urdf b/fanuc_m10ia_support/urdf/m10ia.urdf
@@ -6,7 +6,7 @@
 <robot name="fanuc_m10ia" xmlns:xacro="http://ros.org/wiki/xacro">
   <link name="base_link">
     <visual>
-      <origin rpy="-1.578 0 0" xyz="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
         <mesh filename="package://fanuc_m10ia_support/meshes/m10ia/visual/base_link.stl"/>
       </geometry>
@@ -15,7 +15,7 @@
       </material>
     </visual>
     <collision>
-      <origin rpy="-1.578 0 0" xyz="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
         <mesh filename="package://fanuc_m10ia_support/meshes/m10ia/collision/base_link.stl"/>
       </geometry>
@@ -125,51 +125,50 @@
   </link>
   <link name="tool0"/>
   <joint name="joint_1" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.450"/>
     <parent link="base_link"/>
     <child link="link_1"/>
     <axis xyz="0 0 1"/>
     <limit effort="0" lower="-3.14" upper="3.14" velocity="3.67"/>
   </joint>
   <joint name="joint_2" type="revolute">
-    <origin rpy="0 0 0" xyz="0.15 -0.04 0.45"/>
+    <origin rpy="0 0 0" xyz="0.150 0 0"/>
     <parent link="link_1"/>
     <child link="link_2"/>
     <axis xyz="0 1 0"/>
     <limit effort="0" lower="-1.57" upper="2.79" velocity="3.32"/>
   </joint>
   <joint name="joint_3" type="revolute">
-    <origin rpy="0 0 0" xyz="0 -0.0225 0.6"/>
+    <origin rpy="0 0 0" xyz="0 0 0.600"/>
     <parent link="link_2"/>
     <child link="link_3"/>
     <axis xyz="0 -1 0"/>
     <limit effort="0" lower="-3.14" upper="4.61" velocity="3.67"/>
   </joint>
   <joint name="joint_4" type="revolute">
-    <origin rpy="0 0 0" xyz="0.1805 0.0625 0.2"/>
+    <origin rpy="0 0 0" xyz="0 0 0.200"/>
     <parent link="link_3"/>
     <child link="link_4"/>
     <axis xyz="-1 0 0"/>
     <limit effort="0" lower="-3.31" upper="3.31" velocity="6.98"/>
   </joint>
   <joint name="joint_5" type="revolute">
-    <origin rpy="0 0 0" xyz="0.4595 -0.0565 0"/>
+    <origin rpy="0 0 0" xyz="0.640 0 0"/>
     <parent link="link_4"/>
     <child link="link_5"/>
     <axis xyz="0 -1 0"/>
     <limit effort="0" lower="-3.31" upper="3.31" velocity="6.98"/>
   </joint>
   <joint name="joint_6" type="revolute">
-    <origin rpy="0 0 0" xyz="0.1 0.0565 0"/>
+    <origin rpy="0 0 0" xyz="0.100 0 0"/>
     <parent link="link_5"/>
     <child link="link_6"/>
     <axis xyz="-1 0 0"/>
     <limit effort="0" lower="-6.28" upper="6.28" velocity="10.47"/>
   </joint>
   <joint name="joint_6-tool0" type="fixed">
+    <origin rpy="3.1415926535 -1.570796327 0" xyz="0 0 0"/>
     <parent link="link_6"/>
     <child link="tool0"/>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
   </joint>
 </robot>
-
diff --git a/fanuc_m10ia_support/urdf/m10ia_macro.xacro b/fanuc_m10ia_support/urdf/m10ia_macro.xacro
@@ -1,19 +1,20 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 	<xacro:include filename="$(find fanuc_resources)/urdf/common_materials.xacro"/>
+	<xacro:include filename="$(find fanuc_resources)/urdf/common_constants.xacro"/>
 
 	<xacro:macro name="fanuc_m10ia" params="prefix">
 		<!-- links -->
 		<link name="${prefix}base_link">
 			<visual>
-				<origin xyz="0 0 0" rpy="-1.578 0 0"/>
+				<origin xyz="0 0 0" rpy="0 0 0"/>
 				<geometry>
 					<mesh filename="package://fanuc_m10ia_support/meshes/m10ia/visual/base_link.stl"/>
 				</geometry>
 				<xacro:material_fanuc_grey />
 			</visual>
 			<collision>
-				<origin xyz="0 0 0" rpy="-1.578 0 0"/>
+				<origin xyz="0 0 0" rpy="0 0 0"/>
 				<geometry>
 					<mesh filename="package://fanuc_m10ia_support/meshes/m10ia/collision/base_link.stl"/>
 				</geometry>
@@ -113,51 +114,51 @@
 
 		<!-- joints -->
 		<joint name="${prefix}joint_1" type="revolute">
-			<origin xyz="0 0 0" rpy="0 0 0"/>
+			<origin xyz="0 0 0.450" rpy="0 0 0"/>
 			<parent link="${prefix}base_link"/>
 			<child link="${prefix}link_1"/>
 			<axis xyz="0 0 1"/>
 			<limit lower="-3.14" upper="3.14" effort="0" velocity="3.67"/>
 		</joint>
 		<joint name="${prefix}joint_2" type="revolute">
-			<origin xyz="0.15 -0.04 0.45" rpy="0 0 0"/>
+			<origin xyz="0.150 0 0" rpy="0 0 0"/>
 			<parent link="${prefix}link_1"/>
 			<child link="${prefix}link_2"/>
 			<axis xyz="0 1 0"/>
 			<limit lower="-1.57" upper="2.79" effort="0" velocity="3.32"/>
 		</joint>
 		<joint name="${prefix}joint_3" type="revolute">
-			<origin xyz="0 -0.0225 0.6" rpy="0 0 0"/>
+			<origin xyz="0 0 0.600" rpy="0 0 0"/>
 			<parent link="${prefix}link_2"/>
 			<child link="${prefix}link_3"/>
 			<axis xyz="0 -1 0"/>
 			<limit lower="-3.14" upper="4.61" effort="0" velocity="3.67"/>
 		</joint>
 		<joint name="${prefix}joint_4" type="revolute">
-			<origin xyz="0.1805 0.0625 0.2" rpy="0 0 0"/>
+			<origin xyz="0 0 0.200" rpy="0 0 0"/>
 			<parent link="${prefix}link_3"/>
 			<child link="${prefix}link_4"/>
 			<axis xyz="-1 0 0"/>
 			<limit lower="-3.31" upper="3.31" effort="0" velocity="6.98"/>
 		</joint>
 		<joint name="${prefix}joint_5" type="revolute">
-			<origin xyz="0.4595 -0.0565 0" rpy="0 0 0"/>
+			<origin xyz="0.640 0 0" rpy="0 0 0"/>
 			<parent link="${prefix}link_4"/>
 			<child link="${prefix}link_5"/>
 			<axis xyz="0 -1 0"/>
 			<limit lower="-3.31" upper="3.31" effort="0" velocity="6.98"/>
 		</joint>
 		<joint name="${prefix}joint_6" type="revolute">
-			<origin xyz="0.1 0.0565 0" rpy="0 0 0"/>
+			<origin xyz="0.100 0 0" rpy="0 0 0"/>
 			<parent link="${prefix}link_5"/>
 			<child link="${prefix}link_6"/>
 			<axis xyz="-1 0 0"/>
 			<limit lower="-6.28" upper="6.28" effort="0" velocity="10.47"/>
 		</joint>
 		<joint name="${prefix}joint_6-tool0" type="fixed">
+			<origin xyz="0 0 0" rpy="${m_pi} ${-m_pi_2} 0" />
 			<parent link="${prefix}link_6"/>
 			<child link="${prefix}tool0"/>
-			<origin xyz="0 0 0" rpy="0 0 0"/>
 		</joint>
 	</xacro:macro>
 </robot>