Commit 274780e8 authored by Matteo Saveriano's avatar Matteo Saveriano
Browse files

Fixed inverted rotation axis in arm urdf.

parent 6ed65d68
......@@ -40,7 +40,7 @@
<!-- 1-Axis -->
<joint name="${name}_axis_1_joint" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<axis xyz="0 0 -1"/>
<limit lower="${-180 * M_PI / 180}" upper="${180 * M_PI / 180}"
effort="204" velocity="${velocity_scale_factor * 180 * M_PI / 180}" />
<safety_controller soft_lower_limit="${-180 * M_PI / 180}"
......@@ -76,7 +76,7 @@
<!-- add 0.0142 in z and sub 0.007 in y -->
<!-- <origin xyz="0.004 0.007 0.083" rpy="0 0 0"/> -->
<origin xyz="0 0.0 0.0955" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<axis xyz="-1 0 0"/>
<limit lower="${-110 * M_PI / 180}" upper="${100 * M_PI / 180}"
effort="204" velocity="${velocity_scale_factor * 180 * M_PI / 180}" />
<safety_controller soft_lower_limit="${-110 * M_PI / 180}"
......@@ -110,7 +110,7 @@
<!-- 3-Axis -->
<joint name="${name}_axis_3_joint" type="revolute">
<origin xyz="0 -0.025 0.14" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<axis xyz="-1 0 0"/>
<limit lower="${-30 * M_PI / 180}" upper="${178 * M_PI / 180}"
effort="204" velocity="${velocity_scale_factor * 180 * M_PI / 180}" />
<safety_controller soft_lower_limit="${-30 * M_PI / 180}"
......@@ -144,7 +144,7 @@
<!-- 4-Axis -->
<joint name="${name}_axis_4_joint" type="revolute">
<origin xyz="0 -0.0005 0.1628" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<axis xyz="-1 0 0"/>
<limit lower="${-124 * M_PI / 180}" upper="${124 * M_PI / 180}"
effort="204" velocity="${velocity_scale_factor * 180 * M_PI / 180}" />
<safety_controller soft_lower_limit="${-120 * M_PI / 180}"
......@@ -178,7 +178,7 @@
<!-- Gripper -->
<joint name="${name}_gripper_l" type="revolute">
<origin xyz="0.0155 -0.02 0.0505" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<axis xyz="0 -1 0"/>
<limit lower="${-2 * M_PI / 180}" upper="${75 * M_PI / 180}"
effort="204" velocity="${velocity_scale_factor * 180 * M_PI / 180}" />
<safety_controller soft_lower_limit="${-1 * M_PI / 180}"
......@@ -193,7 +193,7 @@
<joint name="${name}_gripper_r" type="revolute">
<origin xyz="-0.010 -0.02 0.0505" rpy="0 0 0"/>
<mimic joint="${name}_gripper_l" multiplier="-1" offset="0" />
<axis xyz="0 1 0"/>
<axis xyz="0 -1 0"/>
<limit lower="${-2 * M_PI / 180}" upper="${75 * M_PI / 180}"
effort="204" velocity="${velocity_scale_factor * 180 * M_PI / 180}" />
<safety_controller soft_lower_limit="${-1 * M_PI / 180}"
......
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