From dc095f5c2946e2ebd8888bb29020b317eaa6df20 Mon Sep 17 00:00:00 2001
From: Wim Meeussen <wim@willowgarage.com>
Date: Wed, 21 Mar 2012 16:44:52 -0700
Subject: [PATCH] put in correct joint offsets and joint directions
---
universal_robot_description/urdf/robot.urdf.xacro | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/universal_robot_description/urdf/robot.urdf.xacro b/universal_robot_description/urdf/robot.urdf.xacro
index 3d0932f..2d755cd 100644
--- a/universal_robot_description/urdf/robot.urdf.xacro
+++ b/universal_robot_description/urdf/robot.urdf.xacro
@@ -80,7 +80,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<joint name="shoulder_lift_joint" type="revolute">
<parent link="shoulder_link" />
<child link = "upper_arm_link" />
- <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 0.0 0.0" />
+ <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
<dynamics damping="0.1" friction="0.1"/>
@@ -110,7 +110,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<parent link="upper_arm_link" />
<child link = "forearm_link" />
<origin xyz="0.0 ${-shoulder_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 -1.0 0.0" />
+ <axis xyz="0.0 1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
<dynamics damping="0.1" friction="0.1"/>
</joint>
@@ -138,7 +138,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<joint name="wrist_1_joint" type="revolute">
<parent link="forearm_link" />
<child link = "wrist_1_link" />
- <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 0.0 0.0" />
+ <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
<dynamics damping="0.1" friction="0.1"/>
--
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