The rotation axis of of joint1 and joint3 in the URDF are in the oppo…

…site direction as the real robot, change the direction of their rotation axis
vcmman · Feb 9, 2015 · 9fe7841 · 9fe7841
1 parent 087bed1
commit 9fe7841
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/examples/IRB140/irb_140.urdf b/examples/IRB140/irb_140.urdf
@@ -1,3 +1,4 @@
+<?xml version="1.0" ?>
 <robot
   name="IRB140_-_M2004C_Complete_base.SLDASM">
   <link
@@ -284,7 +285,7 @@
     <parent link="base_link"/>
     <child link="link_1"/>
     <limit effort="300" lower="-3.14159265359" upper="3.14159265359" velocity="4.36"/>
-    <axis xyz="0 1 0"/>
+    <axis xyz="0 -1 0"/>
     <origin rpy="0 0 0" xyz="0 -0.1095 0"/>
   </joint>
   <joint name="joint2" type="revolute">
@@ -298,7 +299,7 @@
     <parent link="link_2"/>
     <child link="link_3"/>
     <limit effort="300" lower="-4.01425728" upper="0.87266463" velocity="4.36"/>
-    <axis xyz="0 0 -1"/>
+    <axis xyz="0 0 1"/>
     <origin rpy="0 0 0" xyz="0 -0.360 0"/>
   </joint>
   <joint name="joint4" type="revolute">

diff --git a/examples/IRB140/irb_140_convhull.urdf b/examples/IRB140/irb_140_convhull.urdf
@@ -285,7 +285,7 @@
     <parent link="base_link"/>
     <child link="link_1"/>
     <limit effort="300" lower="-3.14159265359" upper="3.14159265359" velocity="4.36"/>
-    <axis xyz="0 1 0"/>
+    <axis xyz="0 -1 0"/>
     <origin rpy="0 0 0" xyz="0 -0.1095 0"/>
   </joint>
   <joint name="joint2" type="revolute">
@@ -299,7 +299,7 @@
     <parent link="link_2"/>
     <child link="link_3"/>
     <limit effort="300" lower="-4.01425728" upper="0.87266463" velocity="4.36"/>
-    <axis xyz="0 0 -1"/>
+    <axis xyz="0 0 1"/>
     <origin rpy="0 0 0" xyz="0 -0.360 0"/>
   </joint>
   <joint name="joint4" type="revolute">