From 5dfc4b5be01c0428b15ea59af31aecb2c4cb953f Mon Sep 17 00:00:00 2001
From: Luca <luca.marchionni@pal-robotics.com>
Date: Sat, 5 Nov 2016 12:23:19 +0100
Subject: [PATCH] Fix right wrist and gripper rotations
---
talos_description/urdf/arm/wrist.urdf.xacro | 18 ++++++------------
.../urdf/gripper/gripper_v2.urdf.xacro | 2 +-
2 files changed, 7 insertions(+), 13 deletions(-)
diff --git a/talos_description/urdf/arm/wrist.urdf.xacro b/talos_description/urdf/arm/wrist.urdf.xacro
index 62da602..f15cc97 100644
--- a/talos_description/urdf/arm/wrist.urdf.xacro
+++ b/talos_description/urdf/arm/wrist.urdf.xacro
@@ -44,14 +44,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_5.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_5.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="LightGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_5_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -59,14 +59,8 @@
<joint name="${name}_${side}_5_joint" type="revolute">
<parent link="${parent}" />
<child link="${name}_${side}_5_link" />
- <xacro:if value="${reflect == 1}">
- <origin xyz="-0.02000 0.00000 -0.26430"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- </xacro:if>
- <xacro:if value="${reflect == -1}">
- <origin xyz="-0.02000 0.00000 -0.26430"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${180.00000 * deg_to_rad}"/>
- </xacro:if>
+ <origin xyz="-0.02000 0.00000 -0.26430"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
<limit lower="${-145.0 * deg_to_rad}" upper="${145.0 * deg_to_rad}" effort="${wrist_1_max_effort}" velocity="${wrist_1_max_vel}" />
<dynamics friction="${wrist_friction}" damping="${wrist_damping}"/>
@@ -140,7 +134,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_7.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_7.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -148,7 +142,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_7_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
diff --git a/talos_description/urdf/gripper/gripper_v2.urdf.xacro b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
index 391e8dd..c1cd6c0 100644
--- a/talos_description/urdf/gripper/gripper_v2.urdf.xacro
+++ b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
@@ -39,7 +39,7 @@
<parent link="${parent}"/>
<child link="${name}_base_link"/>
<origin xyz="0.00000 0.00000 -0.02875"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${(reflect -1)* 90.000000 * deg_to_rad}"/>
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 0" />
</joint>
--
GitLab