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Commit 7697b87c authored by Felix Mauch's avatar Felix Mauch
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Use correct ee_link orientation for eSeries

parent 3a3d1b0b
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ur_e_description/urdf/ur10e.urdf.xacro
View file @ 7697b87c
......@@ -293,7 +293,7 @@
<joint name="${prefix}ee_fixed_joint" type="fixed">
<parent link="${prefix}wrist_3_link" />
<child link = "${prefix}ee_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 ${pi/2.0}" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} ${pi/2.0}" />
</joint>
<link name="${prefix}ee_link">
......
ur_e_description/urdf/ur3e.urdf.xacro
View file @ 7697b87c
......@@ -291,7 +291,7 @@
<joint name="${prefix}ee_fixed_joint" type="fixed">
<parent link="${prefix}wrist_3_link" />
<child link = "${prefix}ee_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 ${pi/2.0}" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} ${pi/2.0}" />
</joint>
<link name="${prefix}ee_link">
......
ur_e_description/urdf/ur5e.urdf.xacro
View file @ 7697b87c
......@@ -291,7 +291,7 @@
<joint name="${prefix}ee_fixed_joint" type="fixed">
<parent link="${prefix}wrist_3_link" />
<child link = "${prefix}ee_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 ${pi/2.0}" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} ${pi/2.0}" />
</joint>
<link name="${prefix}ee_link">
......
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