## repository: git://github.com/ipa320/cob_common
<<PackageHeader(cob_description)>>
<<TOC(4)>>

== Urdf versions ==
This package contains the description of the components of Care-O-bot robots, inside the folder urdf you can find different models and versions, the following table explain the distribution:

=== Torso ===
||'''Version number'''||'''description'''||'''used in robot'''||
||torso_v0||Torso with 2 PW (2 pan links and 2 tilt links)||cob3-1 and cob3-2||
||torso_v1||Torso with 3PRL (1 pan link and 2 tilt links)||cob3-3, cob3-4 and cob3-6||

Each joint has predefined limits:

|| ||||'''torso_1_joint'''||||'''torso_2_joint'''||||'''torso_3_joint'''||
|| ||'''lower_limit'''||'''upper_limit'''||'''lower_limit'''||'''upper_limit'''||'''lower_limit'''||'''upper_limit'''||
||'''urdf limit'''|| -0,22 || 0,22 || -0,22 || 0,22 || -0,37 || 0,37 ||
||'''hardware limit'''|| -0,25 || 0,25 || -0,25 || 0,25 || -0,40 || 0,40 ||

=== Tray ===
||'''Version '''||'''description'''||'''used in robot'''||
||tray||Tray with 1 PRL||cob3-1, cob3-2, cob3-3, cob3-4 and cob3-7||
||tray_powerball||Tray with 1 PRL and 1 ERB||cob3-5 and cob3-6||

Each joint has predefined limits:

==== tray (1 DOF) ====
|| ||||'''tray_1_joint'''||
|| ||'''lower_limit'''||'''upper_limit'''||
||'''urdf limit'''|| -3,3 || 0,2 ||
||'''hardware limit'''|| -3,33 || 0,23 ||


==== tray_powerball (3 DOF) ====
|| ||||'''tray_1_joint'''||||'''tray_2_joint'''||||'''tray_3_joint'''||
|| ||'''lower_limit'''||'''upper_limit'''||'''lower_limit'''||'''upper_limit'''||'''lower_limit'''||'''upper_limit'''||
||'''urdf limit'''|| -1,37 || 0,02 || -3,16 || 3,16 || -3,16 || 3,16 ||
||'''hardware limit'''|| -1,4 || 0,05 || -3,19 || 3,19 || -3,19 || 3,19 ||


=== Head ===
||'''Version number'''||'''description'''||'''used in robot'''||
||head_v1||Head with 2 AVT Pike C145 and Kinect||cob3-1||
||head_v2||Head with AVT Prosilica GigE and Mesa Swissranger||cob3-2||
||head_v3||Head with 2 AVT Prosilica GigE and Kinect||cob3-3, cob3-4 and cob3-6||

In the package [[cob_hardware_config]] you can find for each robot the urdf file that load the component descriptions together.


== Generate stl file ==
We used Solidworks to generate stl files. Please pay attention to the following issues while generating new stl file:
 * define a new reference coordinate system in SolidWorks and export the stl file using this reference coordinate system.
 * the mesh size (amount of triangles) is limited to ?32000?
 * the stl file should not begin with "solid", therefore substitute the string "solid" e.g. with "robot" using 
 {{{
 sed -i '0,/RE/s/solid/robot/' */*.stl
 }}}

## AUTOGENERATED DON'T DELETE
## CategoryPackage