From db8e0d4ec227542bf08b974890a10d21e1117682 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Wed, 9 Oct 2019 17:05:52 +0200
Subject: [PATCH] [urdf] Changing the spring axis from Y to X.
---
urdf/leg/leg_passive.urdf.xacro | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/urdf/leg/leg_passive.urdf.xacro b/urdf/leg/leg_passive.urdf.xacro
index c9d0ec3..c58070a 100644
--- a/urdf/leg/leg_passive.urdf.xacro
+++ b/urdf/leg/leg_passive.urdf.xacro
@@ -57,7 +57,7 @@
<child link="leg_${prefix}_1_link_passive"/>
<origin xyz="0.0 0.0 0.0"
rpy="0.00000 0.00000 0.00000"/>
- <axis xyz="0 1 0" />
+ <axis xyz="1 0 0" />
<limit lower="${(-180.0)*deg_to_rad}" upper="${(180.0)*deg_to_rad}" effort="100" velocity="3.87" />
<dynamics friction="970.0" damping="0.0"/>
</joint>
--
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