From 38a74b86c99b4ebdb7529ca02af70d4d8c5c3e63 Mon Sep 17 00:00:00 2001
From: Hilario Tome <hilario.tome@pal-robotics.com>
Date: Mon, 7 Nov 2016 11:16:18 +0100
Subject: [PATCH] Fixed head differential
---
talos_description/urdf/head/head.urdf.xacro | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/talos_description/urdf/head/head.urdf.xacro b/talos_description/urdf/head/head.urdf.xacro
index c2cdb35..f4dd9c0 100644
--- a/talos_description/urdf/head/head.urdf.xacro
+++ b/talos_description/urdf/head/head.urdf.xacro
@@ -151,8 +151,8 @@
<origin xyz="0 0 0" rpy="${-90 * deg_to_rad} 0 ${-90 * deg_to_rad}"/>
</xacro:xtion_pro_live>
<xacro:talos_head_differential_transmission name="${name}" number1="1" number2="2"
- act_reduction1="1.0" act_reduction2="1.0"
- jnt_reduction1="1.0" jnt_reduction2="1.0" />
+ act_reduction1="1.0" act_reduction2="-1.0"
+ jnt_reduction1="1.0" jnt_reduction2="2.0" />
</xacro:macro>
</robot>
--
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