Merge pull request #76 from robotology/devel

Merge devel in master
robotology · Nov 30, 2020 · e074794 · e074794
2 parents bed6cb2 + 059c2db
commit e074794
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf
@@ -508,7 +508,7 @@
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
     <origin xyz="0 -4.2345248449371375e-07 -0.022499941373124423" rpy="0 0 0"/>
-    <axis xyz="-2.2276474049102235e-08 4.393786247302041e-08 1.0000002566182309"/>
+    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -568,7 +568,7 @@
   </link>
   <joint name="l_wrist_prosup" type="revolute">
     <origin xyz="-0.0149998706541777 0.0019996435036348514 -0.0553000635824798" rpy="0 0 0"/>
-    <axis xyz="-2.2276474049102235e-08 4.393786247302041e-08 1.0000002566182309"/>
+    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -598,7 +598,7 @@
   </link>
   <joint name="l_wrist_pitch" type="revolute">
     <origin xyz="0.016600015934286182 0.0020068952180725685 -0.10749964114254112" rpy="0 0 0"/>
-    <axis xyz="0.9999998262417685 2.0348252625938444e-07 -4.023022846062156e-08"/>
+    <axis xyz="-0.9999998262417685 -2.0348252625938444e-07 4.023022846062156e-08"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -628,7 +628,7 @@
   </link>
   <joint name="l_wrist_yaw" type="revolute">
     <origin xyz="-0.016300121744729387 -0.006999392681571209 0" rpy="0 0 0"/>
-    <axis xyz="-8.811824174789715e-08 -1.0000002733514628 4.404736120498342e-08"/>
+    <axis xyz="8.811824174789715e-08 1.0000002733514628 -4.404736120498342e-08"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
     <limit effort="50000" lower="-0.2617993877991494" upper="0.6108652381980153" velocity="120.0"/>

diff --git a/iCub/robots/iCubGenova09/model.urdf b/iCub/robots/iCubGenova09/model.urdf
@@ -508,7 +508,7 @@
   </link>
   <joint name="l_shoulder_yaw" type="revolute">
     <origin xyz="0 -4.2345248449371375e-07 -0.022499941373124423" rpy="0 0 0"/>
-    <axis xyz="-2.2276474049102235e-08 4.393786247302041e-08 1.0000002566182309"/>
+    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
     <parent link="l_shoulder_3"/>
     <child link="l_upper_arm"/>
     <limit effort="50000" lower="-0.8726646259971648" upper="1.3962634015954636" velocity="120.0"/>
@@ -568,7 +568,7 @@
   </link>
   <joint name="l_wrist_prosup" type="revolute">
     <origin xyz="-0.0149998706541777 0.0019996435036348514 -0.0553000635824798" rpy="0 0 0"/>
-    <axis xyz="-2.2276474049102235e-08 4.393786247302041e-08 1.0000002566182309"/>
+    <axis xyz="2.2276474049102235e-08 -4.393786247302041e-08 -1.0000002566182309"/>
     <parent link="l_elbow_1"/>
     <child link="l_forearm"/>
     <limit effort="50000" lower="-1.53588974175501" upper="1.53588974175501" velocity="120.0"/>
@@ -598,7 +598,7 @@
   </link>
   <joint name="l_wrist_pitch" type="revolute">
     <origin xyz="0.016600015934286182 0.0020068952180725685 -0.10749964114254112" rpy="0 0 0"/>
-    <axis xyz="0.9999998262417685 2.0348252625938444e-07 -4.023022846062156e-08"/>
+    <axis xyz="-0.9999998262417685 -2.0348252625938444e-07 4.023022846062156e-08"/>
     <parent link="l_forearm"/>
     <child link="l_wrist_1"/>
     <limit effort="50000" lower="-1.2217304763960306" upper="0.4363323129985824" velocity="120.0"/>
@@ -628,7 +628,7 @@
   </link>
   <joint name="l_wrist_yaw" type="revolute">
     <origin xyz="-0.016300121744729387 -0.006999392681571209 0" rpy="0 0 0"/>
-    <axis xyz="-8.811824174789715e-08 -1.0000002733514628 4.404736120498342e-08"/>
+    <axis xyz="8.811824174789715e-08 1.0000002733514628 -4.404736120498342e-08"/>
     <parent link="l_wrist_1"/>
     <child link="l_hand"/>
     <limit effort="50000" lower="-0.2617993877991494" upper="0.6108652381980153" velocity="120.0"/>