bug fixes

onekey.sh

@@ -360,8 +360,8 @@ let_robot_go(){
 	echo -e "${Info}                           " 
 	echo -e "${Info}    退出请输入：Ctrl + c    " 
 	echo && stty erase ^? && read -p "按回车键（Enter）开始：" 
-	print_command "roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} enable_arm_tel:=false"
+	print_command "roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} enable_arm_tel:=no"
-	roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} enable_arm_tel:="false"
+	roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE} arm_type_tel:=${ARMTYPE} enable_arm_tel:="no"
 }
 
 

src/spark/spark_bringup/launch/driver_bringup.launch

@@ -1,5 +1,7 @@
 <!--启动spark各种驱动-->
 <launch>
+	<arg name="enable_arm_tel" default="false"/>   
+	<arg name="arm_type_tel" default="uarm" doc="arm types [uarm, sagittarius_arm]"/>
 
 	<arg name="start_base" default="true"/>
 	<arg name="start_camera" default="true"/>
@@ -11,6 +13,8 @@
 	<include file="$(find spark_description)/launch/spark_description.launch">
 		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>	
 		<arg name="lidar_type_tel" value="$(arg lidar_type_tel)"/>	
+		<arg name="enable_arm_tel"	value="$(arg enable_arm_tel)"/>
+		<arg name="arm_type_tel"	value="$(arg arm_type_tel)"/>	
 	</include>
 
 	<!--启动底盘 -->

src/spark/spark_description/launch/spark_description.launch

@@ -10,7 +10,7 @@
   	<arg name="use_gui" default="false"/>
   	<arg name="publish_default_positions" default="true"/>
 
-	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(arg model)' camera_type_tel:=$(arg camera_type_tel) lidar_type_tel:=$(arg lidar_type_tel)"/>
+	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(arg model)' camera_type_tel:=$(arg camera_type_tel) lidar_type_tel:=$(arg lidar_type_tel) arm_type_tel:=$(arg arm_type_tel) enable_arm_tel:=$(arg enable_arm_tel)"/>
 
 
     <group if="$(eval arg('arm_type_tel')=='sagittarius_arm')">

src/spark/spark_description/robots/spark.urdf.xacro

@@ -9,8 +9,13 @@
 <robot name="spark" xmlns:xacro="http://ros.org/wiki/xacro">
 	<xacro:arg name="camera_type_tel" default="astrapro"/>
 	<xacro:arg name="lidar_type_tel"	default="3iroboticslidar2"/>
+	<xacro:arg name="enable_arm_tel"	default="false"/>
+	<xacro:arg name="arm_type_tel"	default="uarm"/>	
+	
   	<xacro:include filename="$(find spark_description)/urdf/spark_340.urdf.xacro">
 		<xacro:arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>	
 		<xacro:arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
+		<xacro:arg name="enable_arm_tel"	value="$(arg enable_arm_tel)"/>
+		<xacro:arg name="arm_type_tel"	value="$(arg arm_type_tel)"/>
 	</xacro:include> 	
 </robot>

src/spark/spark_description/urdf/spark_340.urdf.xacro

@@ -7,8 +7,7 @@
 -->
 
 <robot name="spark" xmlns:xacro="http://ros.org/wiki/xacro">
-
+	<xacro:arg name="enable_arm_tel"	default="no"/>
-	<xacro:arg name="enable_arm_tel"	default="false"/>
 	<xacro:property name="enable_arm"	value="$(arg enable_arm_tel)"/>
 	
 	<xacro:arg name="arm_type_tel"	default="uarm"/>
@@ -45,14 +44,13 @@
 	<xacro:if value="${camera == 'd435'}">
 		<xacro:include filename="$(find spark_description)/urdf/sensors/spark_d435.urdf.xacro"/>
 	</xacro:if>
+	<xacro:if value="${robot_arm_type == 'sagittarius_arm' and enable_arm == 'yes'}">
+		<xacro:include filename="$(find sagittarius_descriptions)/urdf/spark_sagittarius_descriptions.urdf"/>  
+	</xacro:if>
+	<xacro:if value="${robot_arm_type == 'uarm' and enable_arm == 'yes'}">
+
+		<xacro:include filename="$(find swiftpro)/urdf/spark_pro_model.xacro"/>  
 
-	<xacro:if value="${enable_arm == 'true'}">
-		<xacro:if value="${robot_arm_type == 'sagittarius_arm'}">
-  			<xacro:include filename="$(find sagittarius_descriptions)/urdf/spark_sagittarius_descriptions.urdf"/>  
-		</xacro:if>
-        	<xacro:if value="${robot_arm_type == 'uarm'}">
-  			<xacro:include filename="$(find swiftpro)/urdf/spark_pro_model.xacro"/>  
-		</xacro:if>
 	</xacro:if>
 
 </robot>

src/spark/spark_teleop/launch/teleop.launch

@@ -3,10 +3,15 @@
 	<!-- 启动哪种摄像机 -->
 	<arg name="camera_type_tel" default="astrapro" doc="camera type [astrapro, astra, d435...]"/>
 	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
+    <arg name="enable_arm_tel" default="no"/>   
+    <arg name="arm_type_tel" default="uarm" doc="arm types [uarm, sagittarius_arm]"/>
+
 	<!--spark底盘驱动，机器人描述,底盘,相机-->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
 		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
+		<arg name="enable_arm_tel"	value="$(arg enable_arm_tel)"/>
+		<arg name="arm_type_tel"	value="$(arg arm_type_tel)"/>		
 	</include>
  	<!-- 启动雷达 -->
 	<include file="$(find lidar_driver_transfer)/launch/$(arg lidar_type_tel).launch">

src/spark/spark_teleop/rviz/teleop_d435.rviz

@@ -4,6 +4,8 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
+        - /TF1
+        - /TF1/Status1
         - /TF1/Frames1
       Splitter Ratio: 0.5
     Tree Height: 140
@@ -65,6 +67,10 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
         Link Tree Style: Links in Alphabetic Order
+        ar_tag_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         base_footprint:
           Alpha: 1
           Show Axes: false
@@ -183,11 +189,51 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        lidar_bottom_screw_frame:
+        lidar_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
-        lidar_link:
+          Value: true
+        link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_grasping_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        link_gripper_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_gripper_right:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -202,11 +248,20 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        sagittarius_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         spark_stack:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
+        usb_cam_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
       Name: RobotModel
       Robot Description: robot_description
       TF Prefix: ""
@@ -219,9 +274,11 @@ Visualization Manager:
       Frames:
         All Enabled: false
         IMU_link:
-          Value: true
+          Value: false
+        ar_tag_link:
+          Value: false
         base_footprint:
-          Value: true
+          Value: false
         base_gyro_link:
           Value: false
         base_link:
@@ -286,18 +343,38 @@ Visualization Manager:
           Value: true
         left_wheel_link:
           Value: false
-        lidar_bottom_screw_frame:
-          Value: true
         lidar_link:
           Value: false
+        link1:
+          Value: false
+        link2:
+          Value: false
+        link3:
+          Value: false
+        link4:
+          Value: false
+        link5:
+          Value: false
+        link6:
+          Value: false
+        link_grasping_frame:
+          Value: false
+        link_gripper_left:
+          Value: false
+        link_gripper_right:
+          Value: false
         odom:
-          Value: true
+          Value: false
         right_wheel_link:
           Value: false
         room_base_link:
           Value: false
+        sagittarius_base_link:
+          Value: false
         spark_stack:
           Value: false
+        usb_cam_link:
+          Value: false
       Marker Alpha: 1
       Marker Scale: 1
       Name: TF
@@ -363,8 +440,8 @@ Visualization Manager:
                 {}
               left_wheel_link:
                 {}
-              lidar_bottom_screw_frame:
+              lidar_link:
-                lidar_link:
+                laser_frame:
                   {}
               right_wheel_link:
                 {}
@@ -372,8 +449,23 @@ Visualization Manager:
                 {}
               spark_stack:
                 {}
-            laser_frame:
+            sagittarius_base_link:
-              {}
+              link1:
+                link2:
+                  link3:
+                    link4:
+                      link5:
+                        link6:
+                          ar_tag_link:
+                            {}
+                          link_grasping_frame:
+                            {}
+                          link_gripper_left:
+                            {}
+                          link_gripper_right:
+                            {}
+                          usb_cam_link:
+                            {}
       Update Interval: 0
       Value: true
     - Class: rviz/Image
@@ -391,8 +483,8 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 24.765522003173828
+        Max Value: 2.4960973262786865
-        Min Value: -0.49686479568481445
+        Min Value: -0.11600154638290405
         Value: true
       Axis: Z
       Channel Name: intensity
@@ -472,7 +564,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 4.319162368774414
+      Distance: 1.5491176843643188
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -480,17 +572,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.07904946058988571
+        X: 0.08042728900909424
-        Y: -0.19301681220531464
+        Y: -0.06426004320383072
-        Z: 0.4773929715156555
+        Z: 0.2163187712430954
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.4103982150554657
+      Pitch: 0.39539822936058044
       Target Frame: <Fixed Frame>
-      Yaw: 2.0503973960876465
+      Yaw: 1.6903985738754272
     Saved: ~
 Window Geometry:
   Displays:
@@ -500,7 +592,7 @@ Window Geometry:
   Hide Right Dock: true
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000017afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000000c9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000010c000000ab0000001600ffffff000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003b80000003efc0100000002fb0000000800540069006d00650100000000000003b8000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002480000017a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000017afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000000c9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000010c000000ab0000001600ffffff000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003c80000003efc0100000002fb0000000800540069006d00650100000000000003c8000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002580000017a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -509,6 +601,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 952
+  Width: 968
-  X: 72
+  X: 56
   Y: 27

src/spark_driver/arm/uArm/swiftpro/urdf/spark_pro_model.xacro

@@ -0,0 +1,272 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="swiftpro" >
+    <joint name="uarm_base_link_joint" type="fixed">
+      <origin xyz="0.044 0 0.138" rpy="0 0 0"/>
+      <parent link="base_link"/>
+      <child link="Base" />
+    </joint>
+<link name="Base">
+	<inertial>
+		<origin xyz="0.010476 0.000747 0.035226" rpy="0 0 0"/>
+		<mass value="1.886"/>
+		<inertia ixx="0.001196219" ixy="-0.000029358" ixz="0.000014859" 
+				 iyy="0.001147997" iyz="0.000016274"  izz="0.001425617"/>
+	</inertial>
+	<visual>
+		<geometry>
+			<mesh filename="package://swiftpro/urdf/pro_links/Base.STL"/>
+		</geometry>
+		<origin xyz = "0 0 0 " rpy = "0 0 0"/>
+		<material name = "">
+			<color rgba = "0.3 0.3 0.3 1" />
+		</material>
+    </visual>
+</link>
+
+
+<link name="Link1">
+	<inertial>
+		<origin xyz="-0.002175 0 0.029097" rpy="0 0 0"/>
+		<mass value="0.2141"/>
+		<inertia ixx="0.000496945" ixy="-0.000000082" ixz="-0.000002744" 
+				 iyy="0.000150389" iyz="-0.000000002" izz="0.000522487"/>
+	</inertial>
+	<visual>
+		<geometry>
+			<mesh filename="package://swiftpro/urdf/pro_links/Link1.STL"/>
+		</geometry>
+		<origin xyz = "0 0 -0.0723" rpy = "0 0 0" />
+		<material name = "">
+			<color rgba = "0.3 0.3 0.3 1" />
+		</material>
+    </visual>
+</link>
+
+<joint name="Joint1" type="revolute">
+	<axis xyz="0 0 1"/>
+	<limit effort = "1000.0" lower = "-3" upper = "3" velocity = "0" />
+    <parent link="Base"/>
+    <child link="Link1"/>
+	<origin xyz= "0 0 0.0723" rpy = " 0 0 0" />
+</joint>
+
+
+<link name="Link2">
+	<inertial>
+		<origin xyz="-0.001071 0.001101 0.053193" rpy="0 0 0"/>
+		<mass value="0.026"/>
+		<inertia ixx="0.000061744" ixy="-0.000000025" ixz="-0.000000763" 
+				 iyy="0.000062096" iyz="-0.000001053" izz="0.000002942"/>
+	</inertial>
+	<visual>
+		<geometry>
+			<mesh filename="package://swiftpro/urdf/pro_links/Link2.STL"/>
+		</geometry>
+		<origin xyz = "-0.0132 0 -0.1056" rpy = "0 0 0" />
+		<material name = "">
+			<color rgba = "0.3 0.3 0.3 1" />
+		</material>
+    </visual>
+</link>
+
+<joint name="Joint2" type="revolute">
+	<axis xyz="0 1 0"/>
+	<limit effort = "1000.0" lower = "-3" upper = "3" velocity = "0" />
+    <parent link="Link1"/>
+    <child link="Link2"/>
+	<origin xyz= "0.0132 0 0.0333" rpy = " 0 0 0" />
+</joint>
+
+
+<link name="Link3">
+	<inertial>
+		<origin xyz="0.101948 -0.00022 0.011917" rpy="0 0 0"/>
+		<mass value="0.023"/>
+		<inertia ixx="0.000001982" ixy="0.000000483" ixz="-0.000005373" 
+				 iyy="0.000081264" iyz="0.000000008" izz="0.000080538"/>
+	</inertial>
+	<visual>
+		<geometry>
+			<mesh filename="package://swiftpro/urdf/pro_links/Link3.STL"/>
+		</geometry>
+		<origin xyz="-0.0132 0 -0.24767"/>
+		<material name="">
+			<color rgba = "0.3 0.3 0.3 1" />
+		</material>
+	</visual>
+</link>
+
+<joint name="Joint3" type="revolute">
+	<axis xyz="0 1 0"/>
+	<parent link="Link2" />
+	<child link="Link3" />
+	<limit effort="1000" lower="-1.45" upper="1.45" velocity="0"/>
+	<origin xyz="0 0 0.14207 " rpy="0 0 0"/>
+</joint>
+
+
+
+
+<link name="Link4">
+	<inertial>
+		<origin xyz="-0.00235 0.013618 0.015458" rpy="0 0 0"/>
+		<mass value="0.003"/>
+		<inertia ixx="0.000000316" ixy="0.000000001"  ixz="0.000000177" 
+				 iyy="0.000001679" iyz="-0.000000007" izz="0.000001378"/>
+	</inertial>
+	<visual>
+		<geometry>
+			<mesh filename="package://swiftpro/urdf/pro_links/Link4.STL"/>
+		</geometry>
+		<origin xyz = "-0.0132 0 -0.24767" rpy = "0 0 0" />
+		<material name = "">
+			<color rgba = "0.3 0.3 0.3 1" />
+		</material>
+    </visual>
+</link>
+
+<joint name="Joint4" type="revolute">
+	<axis xyz="0 1 0"/>
+	<limit effort = "1000.0" lower = "-3" upper = "3" velocity = "0" />
+    <parent link="Link2"/>
+    <child link="Link4"/>
+	<origin xyz= "0 0 0.14207" rpy = " 0 0 0" />
+</joint>
+
+
+<link name="Link5">
+	<inertial>
+		<origin xyz="0.000287 0.0157 0.072444" rpy="0 0 0"/>
+		<mass value="0.003"/>
+		<inertia ixx="0.000004841" ixy="0.000000000" ixz="0.000000023" 
+				 iyy="0.000004863" iyz="0.000000000" izz="0.000000023"/>
+	</inertial>
+	<visual>
+		<geometry>
+			<mesh filename="package://swiftpro/urdf/pro_links/Link5.STL"/>
+		</geometry>
+		<origin xyz = "0.0215 0 -0.1223" rpy = "0 0 0" />
+		<material name = "">
+			<color rgba = "0.3 0.3 0.3 1" />
+		</material>
+    </visual>
+</link>
+
+<joint name="Joint5" type="revolute">
+	<axis xyz="0 1 0"/>
+	<limit effort = "1000.0" lower = "-3" upper = "3" velocity = "0" />
+    <parent link="Link1"/>
+    <child link="Link5"/>
+	<origin xyz= "-0.0215 0 0.05001" rpy = " 0 0 0" />
+</joint>
+
+
+<link name="Link6">
+	<inertial>
+		<origin xyz="-0.014 -0.01391 -0.001062" rpy="0 0 0"/>
+		<mass value="0.003"/>
+		<inertia ixx="0.000000074" ixy="-0.000000060" ixz="0.000000055" 
+				 iyy="0.000000951" iyz="-0.000000004" izz="0.000000923"/>
+	</inertial>
+	<visual>
+		<geometry>
+			<mesh filename="package://swiftpro/urdf/pro_links/Link6.STL"/>
+		</geometry>
+		<origin xyz = "-0.0132 0 -0.1056" rpy = "0 0 0" />
+		<material name = "">
+			<color rgba = "0.3 0.3 0.3 1" />
+		</material>
+    </visual>
+</link>
+
+<joint name="Joint6" type="revolute">
+	<axis xyz="0 1 0"/>
+	<limit effort = "1000.0" lower = "-3" upper = "3" velocity = "0" />
+    <parent link="Link1"/>
+    <child link="Link6"/>
+	<origin xyz= "0.0132 0 0.0333" rpy = " 0 0 0" />
+</joint>
+
+
+<link name="Link7">
+	<inertial>
+		<origin xyz="-0.001242 -0.013867 0.083246" rpy="0 0 0"/>
+		<mass value="0.003"/>
+		<inertia ixx="0.000007052" ixy="0.000000003" ixz="0.000000055" 
+				 iyy="0.000007058" iyz="0.000000117" izz="0.000000039"/>
+	</inertial>
+	<visual>
+		<geometry>
+			<mesh filename="package://swiftpro/urdf/pro_links/Link7.STL"/>
+		</geometry>
+		<origin xyz = "0.0323 0 -0.10258" rpy = "0 0 0" />
+		<material name = "">
+			<color rgba = "0.3 0.3 0.3 1" />
+		</material>
+    </visual>
+</link>
+
+<joint name="Joint7" type="revolute">
+	<axis xyz="0 1 0"/>
+	<limit effort = "1000.0" lower = "-3" upper = "3" velocity = "0" />
+    <parent link="Link6"/>
+    <child link="Link7"/>
+	<origin xyz= "-0.0455 0 -0.00301" rpy = " 0 0 0" />
+</joint>
+
+
+<link name="Link8">
+	<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/Gripper.STL"/>
+		</geometry>
+		<origin xyz = "-0.17201 0 -0.24651" rpy = "0 0 0" />
+		<material name = "">
+			<color rgba = "0.3 0.3 0.3 1" />
+		</material>
+    </visual>
+</link>
+
+<joint name="Joint8" type="revolute">
+	<axis xyz="0 1 0"/>
+	<limit effort = "1000.0" lower = "-3" upper = "3" velocity = "0" />
+    <parent link="Link3"/>
+    <child link="Link8"/>
+	<origin xyz= "0.15852 0 0" rpy = " 0 0 0" />
+</joint>
+
+
+<link name="Link9">
+	<inertial>
+		<origin xyz="-0.079305 0.0157 -0.000043" rpy="0 0 0"/>
+		<mass value="0.003"/>
+		<inertia ixx="0.000000022" ixy="0.000000000" ixz="-0.000000002" 
+				 iyy="0.000006517" iyz="0.000000000" izz="0.000006497"/>
+	</inertial>
+	<visual>
+		<geometry>
+			<mesh filename="package://swiftpro/urdf/pro_links/Link9.STL"/>
+		</geometry>
+		<origin xyz = "-0.19941 0 -0.27471" rpy = "0 0 0" />
+		<material name = "">
+			<color rgba = "0.3 0.3 0.3 1" />
+		</material>
+    </visual>
+</link>
+
+<joint name="Joint9" type="revolute">
+	<axis xyz="0 1 0"/>
+	<limit effort = "1000.0" lower = "-3" upper = "3" velocity = "0" />
+    <parent link="Link8"/>
+    <child link="Link9"/>
+	<origin xyz= "0.02741 0 0.02703" rpy = " 0 0 0" />
+</joint>
+
+
+</robot>