From ca2f97deff28921a3207a9f280045f1c0549f307 Mon Sep 17 00:00:00 2001
From: Luca <luca.marchionni@pal-robotics.com>
Date: Fri, 4 Nov 2016 18:24:26 +0100
Subject: [PATCH] Invert torso joints order. Check base_link
---
talos_description/urdf/torso/torso.urdf.xacro | 20 +++++++++----------
1 file changed, 10 insertions(+), 10 deletions(-)
diff --git a/talos_description/urdf/torso/torso.urdf.xacro b/talos_description/urdf/torso/torso.urdf.xacro
index b2eeacc..5ceb621 100644
--- a/talos_description/urdf/torso/torso.urdf.xacro
+++ b/talos_description/urdf/torso/torso.urdf.xacro
@@ -77,13 +77,13 @@
</link>
<joint name="${name}_1_joint" type="revolute">
- <parent link="${name}_2_link"/>
+ <parent link="base_link"/>
<child link="${name}_1_link"/>
- <origin xyz="0.0 0.0 0.0"
+ <origin xyz="0.0 0.0 0.0722"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- <axis xyz="0 1 0" />
- <limit lower="${-45.0 * deg_to_rad}" upper="${15.0 * deg_to_rad}"
- effort="${torso_max_effort}" velocity="${torso_max_vel}"/>
+ <axis xyz="0 0 1" />
+ <limit lower="${-75.00000 * deg_to_rad}" upper="${75.00000 * deg_to_rad}"
+ effort="${torso_max_effort}" velocity="${torso_max_vel}" />
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
@@ -122,12 +122,12 @@
<joint name="${name}_2_joint" type="revolute">
<parent link="${name}_1_link"/>
- <child link="base_link"/>
- <origin xyz="0.0 0.0 -0.0722"
+ <child link="${name}_2_link"/>
+ <origin xyz="0.0 0.0 0.0"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
- <axis xyz="0 0 1" />
- <limit lower="${-75.00000 * deg_to_rad}" upper="${75.00000 * deg_to_rad}"
- effort="${torso_max_effort}" velocity="${torso_max_vel}" />
+ <axis xyz="0 1 0" />
+ <limit lower="${-15.0 * deg_to_rad}" upper="${45.0 * deg_to_rad}"
+ effort="${torso_max_effort}" velocity="${torso_max_vel}"/>
<dynamics friction="1.0" damping="1.0"/>
<!-- <safety_controller k_position="20"
--
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