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Commit ec697f39 authored by Sergi Hernandez's avatar Sergi Hernandez
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Modified the URDF file to make it coincide with the real robot.

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urdf/arm2.xacro
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...@@ -89,7 +89,7 @@ ...@@ -89,7 +89,7 @@
</link> </link>
<joint name="roll" type="revolute"> <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" /> <parent link="pan_link" />
<child link="roll_link" /> <child link="roll_link" />
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
...@@ -135,10 +135,10 @@ ...@@ -135,10 +135,10 @@
</link> </link>
<joint name="tilt" type="revolute"> <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" /> <parent link="roll_link" />
<child link="tilt_link" /> <child link="tilt_link" />
<axis xyz="0 1 0" /> <axis xyz="0 -1 0" />
<anchor xyz="0 0 0" /> <anchor xyz="0 0 0" />
<limit lower="-1.5707" upper="1.5707" effort="1.5" velocity="10.0"/> <limit lower="-1.5707" upper="1.5707" effort="1.5" velocity="10.0"/>
<dynamics damping="0.7"/> <dynamics damping="0.7"/>
......
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