From c57c19ae5a034a7c93b3acc9f05140694106798b Mon Sep 17 00:00:00 2001
From: Luca <luca.marchionni@pal-robotics.com>
Date: Wed, 9 Nov 2016 20:01:10 +0100
Subject: [PATCH] Fix frame for wrist ft sensors
---
talos_description/urdf/sensors/ftsensor.urdf.xacro | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/talos_description/urdf/sensors/ftsensor.urdf.xacro b/talos_description/urdf/sensors/ftsensor.urdf.xacro
index fa9625b..bcbd2be 100644
--- a/talos_description/urdf/sensors/ftsensor.urdf.xacro
+++ b/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>
--
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