updated URDF. added tool0 frame as endeffector, with X point upwards

IFL-CAMP · Jan 7, 2016 · ae3ba27 · ae3ba27
1 parent 1a7e095
commit ae3ba27
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Showing 4 changed files with 56 additions and 26 deletions.
diff --git a/iiwa_description/urdf/iiwa14.urdf b/iiwa_description/urdf/iiwa14.urdf
@@ -38,12 +38,11 @@
   <!--Cuboid-->
   <!--Cylinder: length is along the y-axis! -->
   <!-- some constants -->
-  <!-- Flange lenghts    -->
   <!-- Fix to world just for testing -->
   <link name="world"/>
   <!--iiwa-->
   <!--joint between {parent} and link_0-->
-  <joint name="world_joint" type="fixed">
+  <joint name="world_iiwa_joint" type="fixed">
     <origin rpy="0 0 0" xyz="0 0 0.0"/>
     <parent link="world"/>
     <child link="iiwa_link_0"/>
@@ -268,7 +267,7 @@
     <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
     <axis xyz="0 0 1"/>
     <limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
-    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
+    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-3.01941960595" soft_upper_limit="3.01941960595"/>
     <dynamics damping="0.5"/>
   </joint>
   <link name="iiwa_link_7">
@@ -300,6 +299,13 @@
   </joint>
   <link name="iiwa_link_ee">
     </link>
+  <joint name="tool0_joint" type="fixed">
+    <parent link="iiwa_link_ee"/>
+    <child link="tool0"/>
+    <origin rpy="0 -1.57079632679 0" xyz="0 0 0"/>
+  </joint>
+  <link name="tool0">
+    </link>
   <!--Extensions -->
   <!-- Load Gazebo lib and set the robot namespace -->
   <gazebo>

diff --git a/iiwa_description/urdf/iiwa14.xacro b/iiwa_description/urdf/iiwa14.xacro
@@ -338,6 +338,15 @@
 
     <link name="${robot_name}_link_ee">
     </link>
+
+    <joint name="tool0_joint" type="fixed">
+      <parent link="${robot_name}_link_ee"/>
+      <child link="tool0"/>
+      <origin xyz="0 0 0" rpy="0 -${PI/2} 0"/>
+    </joint>
+
+    <link name="tool0">
+    </link>
 
     <!--Extensions -->
     <xacro:iiwa_gazebo robot_name="${robot_name}" />

diff --git a/iiwa_description/urdf/iiwa7.urdf b/iiwa_description/urdf/iiwa7.urdf
@@ -38,12 +38,11 @@
   <!--Cuboid-->
   <!--Cylinder: length is along the y-axis! -->
   <!-- some constants -->
-  <!-- Flange lenghts    -->
   <!-- Fix to world just for testing -->
   <link name="world"/>
   <!--iiwa-->
   <!--joint between {parent} and link_0-->
-  <joint name="world_joint" type="fixed">
+  <joint name="world_iiwa_joint" type="fixed">
     <origin rpy="0 0 0" xyz="0 0 0.0"/>
     <parent link="world"/>
     <child link="iiwa_link_0"/>
@@ -79,7 +78,7 @@
   <joint name="iiwa_joint_1" type="revolute">
     <parent link="iiwa_link_0"/>
     <child link="iiwa_link_1"/>
-    <origin rpy="0 0 0" xyz="0 0 0.1575"/>
+    <origin rpy="0 0 0" xyz="0 0 0.15"/>
     <axis xyz="0 0 1"/>
     <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
     <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
@@ -92,14 +91,14 @@
       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
     </inertial>
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 0.0075"/>
       <geometry>
         <mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_1.stl"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 0.0075"/>
       <geometry>
         <mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_1.stl"/>
       </geometry>
@@ -109,7 +108,7 @@
   <joint name="iiwa_joint_2" type="revolute">
     <parent link="iiwa_link_1"/>
     <child link="iiwa_link_2"/>
-    <origin rpy="1.57079632679   0 3.14159265359" xyz="0 -0.0005 0.1840"/>
+    <origin rpy="1.57079632679   0 3.14159265359" xyz="0 0 0.19"/>
     <axis xyz="0 0 1"/>
     <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
     <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
@@ -122,14 +121,14 @@
       <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
     </inertial>
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 -0.0060"/>
       <geometry>
         <mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_2.stl"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 -0.0060"/>
       <geometry>
         <mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_2.stl"/>
       </geometry>
@@ -139,7 +138,7 @@
   <joint name="iiwa_joint_3" type="revolute">
     <parent link="iiwa_link_2"/>
     <child link="iiwa_link_3"/>
-    <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.184 0"/>
+    <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.21 0"/>
     <axis xyz="0 0 1"/>
     <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
     <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
@@ -152,14 +151,14 @@
       <inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
     </inertial>
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 -0.005 -0.026"/>
       <geometry>
         <mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_3.stl"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 -0.005 -0.026"/>
       <geometry>
         <mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_3.stl"/>
       </geometry>
@@ -169,7 +168,7 @@
   <joint name="iiwa_joint_4" type="revolute">
     <parent link="iiwa_link_3"/>
     <child link="iiwa_link_4"/>
-    <origin rpy="1.57079632679 0 0" xyz="0 0 0.21550"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0.19"/>
     <axis xyz="0 0 1"/>
     <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
     <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
@@ -199,10 +198,10 @@
   <joint name="iiwa_joint_5" type="revolute">
     <parent link="iiwa_link_4"/>
     <child link="iiwa_link_5"/>
-    <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1840 0"/>
+    <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.21 0"/>
     <axis xyz="0 0 1"/>
-    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
-    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
+    <limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
+    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-3.01941960595" soft_upper_limit="3.01941960595"/>
     <dynamics damping="0.5"/>
   </joint>
   <link name="iiwa_link_5">
@@ -212,14 +211,14 @@
       <inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
     </inertial>
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 -0.026"/>
       <geometry>
         <mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_5.stl"/>
       </geometry>
       <material name="Orange"/>
     </visual>
     <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 -0.026"/>
       <geometry>
         <mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_5.stl"/>
       </geometry>
@@ -229,7 +228,7 @@
   <joint name="iiwa_joint_6" type="revolute">
     <parent link="iiwa_link_5"/>
     <child link="iiwa_link_6"/>
-    <origin rpy="1.57079632679 0 0" xyz="0 0.06070 0.21550"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0.06070 0.19"/>
     <axis xyz="0 0 1"/>
     <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
     <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
@@ -259,10 +258,10 @@
   <joint name="iiwa_joint_7" type="revolute">
     <parent link="iiwa_link_6"/>
     <child link="iiwa_link_7"/>
-    <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.0805 0.060"/>
+    <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0.06070"/>
     <axis xyz="0 0 1"/>
     <limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
-    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
+    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-3.01941960595" soft_upper_limit="3.01941960595"/>
     <dynamics damping="0.5"/>
   </joint>
   <link name="iiwa_link_7">
@@ -272,14 +271,14 @@
       <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
     </inertial>
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 -0.0005"/>
       <geometry>
         <mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_7_basic.stl"/>
       </geometry>
       <material name="Grey"/>
     </visual>
     <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="0 0 0" xyz="0 0 -0.0005"/>
       <geometry>
         <mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_7_basic.stl"/>
       </geometry>
@@ -294,6 +293,13 @@
   </joint>
   <link name="iiwa_link_ee">
     </link>
+  <joint name="tool0_joint" type="fixed">
+    <parent link="iiwa_link_ee"/>
+    <child link="tool0"/>
+    <origin rpy="0 -1.57079632679 0" xyz="0 0 0"/>
+  </joint>
+  <link name="tool0">
+    </link>
   <!--Extensions -->
   <!-- Load Gazebo lib and set the robot namespace -->
   <gazebo>

diff --git a/iiwa_description/urdf/iiwa7.xacro b/iiwa_description/urdf/iiwa7.xacro
@@ -209,7 +209,7 @@
 
     <joint name="${robot_name}_joint_5" type="revolute">
       <parent link="${robot_name}_link_4"/>
-      <child link="${robot_name}_link_5"/>-169
+      <child link="${robot_name}_link_5"/>
       <origin xyz="0 0.21 0" rpy="${-PI / 2} ${PI} 0"/>
       <axis xyz="0 0 1"/>
       <limit lower="${-175 * PI / 180}" upper="${175 * PI / 180}"
@@ -330,6 +330,15 @@
     <link name="${robot_name}_link_ee">
     </link>
 
+    <joint name="tool0_joint" type="fixed">
+      <parent link="${robot_name}_link_ee"/>
+      <child link="tool0"/>
+      <origin xyz="0 0 0" rpy="0 -${PI/2} 0"/>
+    </joint>
+
+    <link name="tool0">
+    </link>
+
     <!--Extensions -->
     <xacro:iiwa_gazebo robot_name="${robot_name}" />
     <xacro:iiwa_transmission hardware_interface="${hardware_interface}"/>