Updated the model with FTS150 to be compatible with the others.

Author: rpapallas

ur5_description/urdf/clearpath_ridgeback__ur5__robotiq_two_finger_gripper__robotiq_fts150.urdf

@@ -238,7 +238,7 @@
   <link name="ridgeback_base_link"/>
 
   <joint name="base_link_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.28"/>
     <parent link="ridgeback_base_link"/>
     <child link="chassis_link"/>
   </joint>
@@ -412,53 +412,54 @@
 
   <link name="base_computer_box_link">
     <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <origin rpy="0 0 0" xyz="-1.55 -2.5 17.3"/>
       <geometry>
-        <mesh filename="package://ur5controller/ur5_description/ridgeback/base_computer_box.stl"/>
+        <mesh filename="package://ur5controller/ur5_description/arm/meshes/visual/computer_box.stl"/>
       </geometry>
-      <material name="white"/>
     </visual>
     <collision>
+      <origin rpy="0 0 0" xyz="-1.55 -2.5 17.3"/>
       <geometry>
-        <mesh filename="package://ur5controller/ur5_description/ridgeback/base_computer_box.stl"/>
+        <mesh filename="package://ur5controller/ur5_description/arm/meshes/visual/computer_box.stl"/>
       </geometry>
     </collision>
   </link>
 
   <joint name="base_computer_box_joint" type="fixed">
     <parent link="ridgeback_base_link"/>
     <child link="base_computer_box_link"/>
-    <origin rpy="0 0 0" xyz="1.35 2.5 -16.72"/>
+    <origin rpy="0 0 0" xyz="1.35 2.5 -17"/>
   </joint>
 
   <link name="arm_stand_link">
     <visual>
       <geometry>
-        <cylinder length="0.459" radius="0.1"/>
+          <mesh filename="package://ur5controller/ur5_description/arm/meshes/visual/arm_stand.stl"/>
       </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.2295"/>
+      <origin rpy="1.57 0 0" xyz="0 0 0.2295"/>
       <material name="white"/>
     </visual>
     <collision>
       <geometry>
-        <cylinder length="0.459" radius="0.1"/>
+        <mesh filename="package://ur5controller/ur5_description/arm/meshes/visual/arm_stand.stl"/>
       </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.2295"/>
+      <origin rpy="1.57 0 0" xyz="0 0 0.2295"/>
     </collision>
   </link>
 
   <joint name="arm_stand_joint" type="fixed">
     <parent link="mid_mount"/>
     <child link="arm_stand_link"/>
-    <origin rpy="0 0 0" xyz="0.28 0.0 0.0"/>
+    <origin rpy="0 0 0" xyz="0.28 0.0 -0.28"/>
   </joint>
 
   <joint name="arm_stand_to_arm_joint" type="fixed">
     <parent link="arm_stand_link"/>
     <child link="base_link"/>
-    <origin rpy="0 0 -1.57" xyz="0.0 0.0 0.462"/> <!-- 0.462 = 0.459 + 0.003 where 0.003 is the distance between very bottom of the arm base and its base_link-->
+    <origin rpy="0 0 -1.64060949685" xyz="0.0 0.0 0.456"/>
   </joint>
 
+
   <!-- ===================================================================  -->
   <!--                       UR5 ROBOT DESCRIPTION                          -->
   <!-- ===================================================================  -->
@@ -491,7 +492,7 @@
     <child link="shoulder_link"/>
     <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.089159"/>
     <axis xyz="0 0 1"/>
-    <limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.15"/>
+    <limit effort="150.0" lower="-6.26573" upper="6.26573" velocity="3.15"/>
     <dynamics damping="0.0" friction="0.0"/>
   </joint>
 
@@ -523,7 +524,7 @@
     <child link="upper_arm_link"/>
     <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.13585 0.0"/>
     <axis xyz="0 1 0"/>
-    <limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.15"/>
+    <limit effort="150.0" lower="-6.26573" upper="6.26573" velocity="3.15"/>
     <dynamics damping="0.0" friction="0.0"/>
   </joint>
 
@@ -555,7 +556,7 @@
     <child link="forearm_link"/>
     <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1197 0.425"/>
     <axis xyz="0 1 0"/>
-    <limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.15"/>
+    <limit effort="150.0" lower="-6.26573" upper="6.26573" velocity="3.15"/>
     <dynamics damping="0.0" friction="0.0"/>
   </joint>
 
@@ -587,7 +588,7 @@
     <child link="wrist_1_link"/>
     <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.39225"/>
     <axis xyz="0 1 0"/>
-    <limit effort="28.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
+    <limit effort="28.0" lower="-6.26573" upper="6.26573" velocity="3.2"/>
     <dynamics damping="0.0" friction="0.0"/>
   </joint>
 
@@ -619,7 +620,7 @@
     <child link="wrist_2_link"/>
     <origin rpy="0.0 0.0 0.0" xyz="0.0 0.093 0.0"/>
     <axis xyz="0 0 1"/>
-    <limit effort="28.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
+    <limit effort="28.0" lower="-6.26573" upper="6.26573" velocity="3.2"/>
     <dynamics damping="0.0" friction="0.0"/>
   </joint>
 
@@ -651,7 +652,7 @@
     <child link="wrist_3_link"/>
     <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
     <axis xyz="0 1 0"/>
-    <limit effort="28.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
+    <limit effort="28.0" lower="-6.26573" upper="6.26573" velocity="3.2"/>
     <dynamics damping="0.0" friction="0.0"/>
   </joint>
 
@@ -680,6 +681,7 @@
 
 
 
+
   <transmission name="shoulder_pan_trans">
     <type>transmission_interface/SimpleTransmission</type>
     <joint name="shoulder_pan_joint">
@@ -766,8 +768,6 @@
     <child link="tool0"/>
   </joint>
 
-
-
   <!-- ===================================================================  -->
   <!--               ROBOTIQ FORCE TORQUE SENSOR FTS150                     -->
   <!-- ===================================================================  -->
@@ -886,7 +886,6 @@
     <origin rpy="1.570796325 -1.570796325 0.0" xyz="0.0 0.0 0.08"/>
   </joint>
 
-
   <!-- ===================================================================  -->
   <!--                     ROBOTIQ TWO FINGER GRIPPER                       -->
   <!-- ===================================================================  -->
@@ -915,6 +914,11 @@
         <box size="0.03 0.04 0.06"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
+      <mass value="1.267"/>
+      <inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>
+    </inertial>
   </link>
 
   <!-- right finger -->
@@ -923,7 +927,7 @@
     <parent link="simple_gripper_base"/>
     <child link="simple_gripper_right_driver"/>
     <axis xyz="1 0 0"/>
-    <limit effort="60" lower="0.0" upper="0.77" velocity="1.91986177778"/>
+    <limit effort="60" lower="0.0" upper="0.715584844444" velocity="1.91986177778"/>
   </joint>
 
   <link name="simple_gripper_right_driver">
@@ -938,6 +942,11 @@
         <box size="0.02 0.04 0.02"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
+      <mass value="1.267"/>
+      <inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>
+    </inertial>
   </link>
 
   <joint name="simple_gripper_right_coupler_joint" type="fixed">
@@ -958,6 +967,11 @@
         <box size="0.03 0.065 0.02"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
+      <mass value="1.267"/>
+      <inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>
+    </inertial>
   </link>
 
   <joint name="simple_gripper_right_follower_joint" type="revolute">
@@ -981,6 +995,11 @@
         <box size="0.02 0.015 0.048"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
+      <mass value="1.267"/>
+      <inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>
+    </inertial>
   </link>
 
   <joint name="simple_gripper_right_pad_joint" type="fixed">
@@ -1000,6 +1019,11 @@
         <box size="0.02 0.008 0.036"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
+      <mass value="1.267"/>
+      <inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>
+    </inertial>
   </link>
 
   <joint name="simple_gripper_right_spring_link_joint" type="revolute">
@@ -1023,6 +1047,11 @@
         <box size="0.04 0.02 0.065"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
+      <mass value="1.267"/>
+      <inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>
+    </inertial>
   </link>
 
   <!-- left finger -->
@@ -1047,6 +1076,11 @@
         <box size="0.02 0.04 0.02"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
+      <mass value="1.267"/>
+      <inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>
+    </inertial>
   </link>
 
   <joint name="simple_gripper_left_coupler_joint" type="fixed">
@@ -1067,6 +1101,11 @@
         <box size="0.03 0.065 0.02"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
+      <mass value="1.267"/>
+      <inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>
+    </inertial>
   </link>
 
   <joint name="simple_gripper_left_follower_joint" type="revolute">
@@ -1090,6 +1129,11 @@
         <box size="0.02 0.015 0.048"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
+      <mass value="1.267"/>
+      <inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>
+    </inertial>
   </link>
 
   <joint name="simple_gripper_left_pad_joint" type="fixed">
@@ -1109,6 +1153,11 @@
         <box size="0.02 0.008 0.036"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
+      <mass value="1.267"/>
+      <inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>
+    </inertial>
   </link>
 
   <joint name="simple_gripper_left_spring_link_joint" type="revolute">
@@ -1132,6 +1181,11 @@
         <box size="0.04 0.02 0.065"/>
       </geometry>
     </collision>
+    <inertial>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
+      <mass value="1.267"/>
+      <inertia ixx="0.0288" ixy="2.20484e-6" ixz="-1.3145e-5" iyy="0.4324" iyz="1.8944e-3" izz="0.4130"/>
+    </inertial>
   </link>
 
   <transmission name="simple_gripper_right_driver_trans">
@@ -1144,3 +1198,36 @@
     </actuator>
   </transmission>
 </robot>
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