Fixed inverted rotation axis in arm urdf.

catkin_ws/src/lss_4dof/lss_4dof_description/model/lss_4dof.urdf.xacro

@@ -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}"