modified sensor disposition for dexter

bioloid_description/urdf/dexter.xacro

@@ -7,24 +7,23 @@
 
 
   <xacro:sharp_ir name="IR1" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
-    <origin xyz="0 0.0 0.035" rpy="-1.5707 -1.5707 0" />
+    <origin xyz="-0.04 0.00 0.035" rpy="0 -1.8326 0" />
   </xacro:sharp_ir>
-  
-    <xacro:sharp_ir name="IRL1" parent="base_link" update_rate="20" fov="0.05" min_range="0.20" max_range="1.5">
-    <origin xyz="0 -0.05 0.035" rpy="-1.5707 -1.5707 0" />
+  <xacro:sharp_ir name="IR2" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
+    <origin xyz="0.04 0.00 0.035" rpy="0 -1.3090 0" />
   </xacro:sharp_ir>
   
-<!--  <xacro:sharp_ir name="IR2" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
-    <origin xyz="0 -0.05 0.035" rpy="-1.5707 -1.5707 0" />
-  </xacro:sharp_ir> -->
+    <xacro:sharp_ir name="IRLONG" parent="base_link" update_rate="20" fov="0.05" min_range="0.20" max_range="1.5">
+    <origin xyz="0.00 -0.05 0.035" rpy="-1.5707 -1.5707 0" />
+  </xacro:sharp_ir>
   
-  <!-- this is for the lateral sensors 3d component puts sensor vertical-->
   
+  <!-- this is for the lateral sensors-->
     <xacro:sharp_ir name="LAT_IR_left" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
-    <origin xyz="0.05 0.04 0.035" rpy="-1.5707 0 0" />
+    <origin xyz="0.04 0.03 0.035" rpy="-1.5707 0 0" />
   </xacro:sharp_ir>    
   <xacro:sharp_ir name="LAT_IR_right" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
-    <origin xyz="-0.03 0.04 0.035" rpy="-1.5707 3.1416 0" />
+    <origin xyz="-0.04 0.03 0.035" rpy="-1.5707 3.1416 0" />
   </xacro:sharp_ir>