From ec697f391e8a954c5ce0af75f93924d94d09695c Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 31 Aug 2020 16:00:03 +0200
Subject: [PATCH] Modified the URDF file to make it coincide with the real
robot.
---
urdf/arm2.xacro | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/urdf/arm2.xacro b/urdf/arm2.xacro
index d57773f..6ebe8b0 100644
--- a/urdf/arm2.xacro
+++ b/urdf/arm2.xacro
@@ -89,7 +89,7 @@
</link>
<joint name="roll" type="revolute">
- <origin xyz="0.0675 0.0 -0.03" rpy="0 0 1.5707" />
+ <origin xyz="0.0675 0.0 -0.03" rpy="0 -1.5707 1.5707" />
<parent link="pan_link" />
<child link="roll_link" />
<axis xyz="0 1 0" />
@@ -135,10 +135,10 @@
</link>
<joint name="tilt" type="revolute">
- <origin xyz="0.001 -0.00171 -0.06189" rpy="0 1.5707 -1.5707" />
+ <origin xyz="0.001 0.0 -0.06" rpy="0 1.5707 -1.5707" />
<parent link="roll_link" />
<child link="tilt_link" />
- <axis xyz="0 1 0" />
+ <axis xyz="0 -1 0" />
<anchor xyz="0 0 0" />
<limit lower="-1.5707" upper="1.5707" effort="1.5" velocity="10.0"/>
<dynamics damping="0.7"/>
--
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