From 6caf7c8845604bdc2f51abdf1b966d1fce866939 Mon Sep 17 00:00:00 2001
From: Hilario Tome <hilario.tome@pal-robotics.com>
Date: Wed, 17 Aug 2016 12:20:40 +0200
Subject: [PATCH] Added simmetry in v2
---
tor_description/urdf/leg/leg_v2.urdf.xacro | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/tor_description/urdf/leg/leg_v2.urdf.xacro b/tor_description/urdf/leg/leg_v2.urdf.xacro
index d7e7c57..a28438f 100644
--- a/tor_description/urdf/leg/leg_v2.urdf.xacro
+++ b/tor_description/urdf/leg/leg_v2.urdf.xacro
@@ -95,7 +95,7 @@
<link name="leg_${prefix}_3_link">
<inertial>
- <origin xyz="0.00658 0.06563 -0.17278" rpy="0.00000 0.00000 0.00000"/>
+ <origin xyz="0.00658 ${reflect*0.06563} -0.17278" rpy="0.00000 0.00000 0.00000"/>
<mass value="6.82734"/>
<inertia ixx="0.12390600000" ixy="${reflect*-0.00041200000}" ixz="-0.00205900000"
iyy="0.10844700000" iyz="${reflect*0.01672500000}"
@@ -132,10 +132,10 @@
<link name="leg_${prefix}_4_link">
<inertial>
- <origin xyz="0.01520 0.02331 -0.12063" rpy="0.00000 0.00000 0.00000"/>
+ <origin xyz="0.01520 ${reflect*0.02331} -0.12063" rpy="0.00000 0.00000 0.00000"/>
<mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="0.00002900000" ixz="-0.00016600000"
- iyy="0.02933600000" iyz="-0.00130500000"
+ <inertia ixx="0.03531500000" ixy="${reflect*0.00002900000}" ixz="-0.00016600000"
+ iyy="0.02933600000" iyz="${reflect*-0.00130500000}"
izz="0.01174000000"/>
</inertial>
@@ -172,8 +172,8 @@
<inertial>
<origin xyz="-0.01106 ${reflect*0.04708} 0.05271" rpy="0.00000 0.00000 0.00000"/>
<mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="-0.00068600000" ixz="-0.00052600000"
- iyy="0.00952600000" iyz="0.00263300000"
+ <inertia ixx="0.01148700000" ixy="${reflect*-0.00068600000}" ixz="-0.00052600000"
+ iyy="0.00952600000" iyz="${reflect*0.00263300000}"
izz="0.00390800000"/>
</inertial>
--
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