Mitski URDF xacros corrected

stretch_description/urdf/stretch_aruco.xacro

@@ -5,7 +5,7 @@
     name="link_aruco_right_base">
     <inertial>
       <origin
-        xyz="0 0 -5.00000000014378E-07"
+        xyz="1.3878E-17 0 -0.000125"
         rpy="0 0 0" />
       <mass
         value="3.59999999990368E-06" />
@@ -46,7 +46,7 @@
     name="joint_aruco_right_base"
     type="fixed">
     <origin
-      xyz="-0.00500000000000014 -0.1304972 0.1597482"
+      xyz="-0.0015028 -0.1304972 0.1597482"
       rpy="0 0 -1.5707963267949" />
     <parent
       link="base_link" />
@@ -61,7 +61,7 @@
     name="link_aruco_left_base">
     <inertial>
       <origin
-        xyz="0 0 -5.00000000014378E-07"
+        xyz="2.7756E-17 0 -0.000125"
         rpy="0 0 0" />
       <mass
         value="3.59999999990368E-06" />
@@ -171,7 +171,7 @@
     name="link_aruco_top_wrist">
     <inertial>
       <origin
-        xyz="1.11022302462516E-16 3.05311331771918E-16 -0.00012499999999821"
+        xyz="-1.3531E-15 -3.4972E-15 -0.000125"
         rpy="0 0 0" />
       <mass
         value="0" />

stretch_description/urdf/stretch_d435i.xacro

@@ -15,6 +15,7 @@
       xyz="0.03 -0.0122 0.0182"
       rpy="0.0 0.0 0.0" />
   </xacro:sensor_d435i>
+
   
 </robot>
 

stretch_description/urdf/stretch_description.xacro

@@ -5,7 +5,7 @@
   <!--<xacro:include filename="stretch_gripper_with_puller.xacro" />-->
   <!--<xacro:include filename="stretch_dry_erase_marker.xacro" />-->
     
-  <!--<xacro:include filename="stretch_main.xacro" />-->
+<!--  <xacro:include filename="stretch_main.xacro" />-->
   <xacro:include filename="stretch_mitski.xacro" />
   <xacro:include filename="stretch_aruco.xacro" />
   <xacro:include filename="stretch_d435i.xacro" />

stretch_description/urdf/stretch_laser_range_finder.xacro

@@ -46,8 +46,8 @@
     name="joint_laser"
     type="fixed">
     <origin
-      xyz="0.000502800000000914 0 0.1664"
-      rpy="0 0 -3.14159265358979" />
+      xyz="0.004 0 0.1664"
+      rpy="0 0 3.1416" />
     <parent
       link="base_link" />
     <child

stretch_description/urdf/stretch_mitsksi.xacro → stretch_description/urdf/stretch_mitski.xacro

@@ -90,7 +90,7 @@
 
   <joint
     name="joint_right_wheel"
-    type="revolute">
+    type="continuous">
     <origin
       xyz="0 -0.17035 0.0508"
       rpy="-1.5708 1.2717E-16 4.8006E-17" />
@@ -146,7 +146,7 @@
 
   <joint
     name="joint_left_wheel"
-    type="revolute">
+    type="continuous">
     <origin
       xyz="0 0.17035 0.0508"
       rpy="-1.5708 2.6317E-16 -8.2057E-19" />
@@ -159,6 +159,57 @@
     <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="{joint_spring_stiffness}"/>
   </joint>
 
+  <link name="caster_link">
+    <collision>
+      <geometry>
+        <sphere radius="0.032"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0</mu>
+            <mu2>0</mu2>
+            <slip1>1.0</slip1>
+            <slip2>1.0</slip2>
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/omni_wheel_m.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <inertial>
+      <mass value="0.01" />
+      <origin xyz="0 0 0" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="caster_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_link"/>
+    <origin xyz="-0.245 0.0 0.032" rpy="${-M_PI/2} 0 0"/>
+    <axis xyz="0 0 1" />
+  </joint>
+
   <link
     name="link_mast">
     <inertial>
@@ -260,7 +311,7 @@
     type="prismatic">
     <origin
       xyz="-0.037385 0.1666 0"
-      rpy="1.5708 1.5708 0" />
+      rpy="-1.5708 1.5708 0" />
     <parent
       link="link_mast" />
     <child
@@ -381,7 +432,7 @@
       link="link_arm_l3" />
     <axis
       xyz="0 0 1" />
-        <!-- 0.13 = 0.52/4-->
+    <!-- 0.13 = 0.52/4-->
     <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
   </joint>
 
@@ -556,7 +607,6 @@
     <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
   </joint>
 
-
   <link
     name="link_wrist_yaw">
     <inertial>
@@ -603,7 +653,7 @@
     type="revolute">
     <origin
       xyz="0.0830000000000654 -0.0307500000000129 0"
-      rpy="-1.5707963267949 -6.34174103868745E-15 3.14159265358978" />
+      rpy="1.5708 4.2595E-14 2.6415E-15"/>
     <parent
       link="link_arm_l0" />
     <child
@@ -665,7 +715,7 @@
     type="fixed">
     <origin
       xyz="0 1.33 0"
-      rpy="1.5707963267949 -1.5707963267949 0" />
+      rpy="1.5707963267949 -1.5707963267949 3.1416" />
     <parent
       link="link_mast" />
     <child

stretch_description/urdf/stretch_respeaker.xacro

@@ -1,20 +1,21 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_respeaker">
 
-  <link name="respeaker_base">
+  <link
+    name="respeaker_base">
     <inertial>
       <origin
-        xyz="-0.00078082896792734 0.00765742173486017 -0.0042488298301937"
+        xyz="-0.003809 -0.0023075 -0.012854"
         rpy="0 0 0" />
       <mass
-        value="0.00969129410417277" />
+        value="0.015643" />
       <inertia
-        ixx="8.95656300428405E-07"
-        ixy="2.67330745809535E-08"
-        ixz="-3.84519793580934E-08"
-        iyy="4.0421099617056E-07"
-        iyz="3.15533542838673E-07"
-        izz="7.08282597118018E-07" />
+        ixx="1.0075E-06"
+        ixy="-5.4396E-08"
+        ixz="-2.8652E-07"
+        iyy="1.0569E-06"
+        iyz="-1.8463E-07"
+        izz="1.1947E-07" />
     </inertial>
     <visual>
       <origin
@@ -22,12 +23,12 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://stretch_description/meshes/link_respeaker.STL" />
+          filename="package://stretch_description/meshes/respeaker_base.STL" />
       </geometry>
       <material
         name="">
         <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+          rgba="0.79216 0.81961 0.93333 1" />
       </material>
     </visual>
     <collision>
@@ -36,7 +37,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://stretch_description/meshes/link_respeaker.STL" />
+          filename="package://stretch_description/meshes/respeaker_base.STL" />
       </geometry>
     </collision>
   </link>
@@ -44,10 +45,9 @@
   <joint
     name="joint_respeaker"
     type="fixed">
-    <!-- rpy="   ?   rotate_sound_source_direction    ?   " --> 
     <origin
-      xyz="1.09074743137871E-05 1.36992 0.00303572796911382"
-      rpy="1.57079632679553 0.0 3.14159265358916" />
+      xyz="0 1.37236408874452 0.00303065898329655"
+      rpy="-1.5707963267949 -0.698131700797725 4.93295812652799E-16" />
     <parent
       link="link_mast" />
     <child