Merge branch 'dubnium-devel' of gitlab:robots/talos_robot into dubnium-devel

talos_description/urdf/sensors/ftsensor.urdf.xacro

@@ -38,7 +38,7 @@
     <joint name="${name}_${side}_ft_joint" type="fixed">
       <parent link="${parent}" />
       <child link="${name}_${side}_ft_link" />
-      <origin xyz="0 0 -0.051" rpy="${0.0 * deg_to_rad} 0 ${-90.0 * deg_to_rad}" />
+      <origin xyz="0 0 -0.051" rpy="${0.0 * deg_to_rad} 0 ${(-60 + 90.0*reflect) * deg_to_rad}" />
     </joint>
 
     <!--***********************-->
@@ -67,7 +67,7 @@
     <joint name="${name}_${side}_tool_joint" type="fixed">
       <parent link="${name}_${side}_ft_link" />
       <child link="${name}_${side}_ft_tool_link" />
-      <origin xyz="0 0 ${-1.0 * (0.0157*0.5 + 0.00975*0.5)}" rpy="0 0 ${-90.0 * reflect * deg_to_rad}" />
+      <origin xyz="0 0 ${-1.0 * (0.0157*0.5 + 0.00975*0.5)}" rpy="0 0 ${(-30 - 180.0 * reflect) * deg_to_rad}" />
 
     </joint>