fixed rotation axis of wrist_1 in UR3e and UR5e

ros-industrial · Jun 21, 2019 · 6143f6c · 6143f6c
1 parent 7697b87
commit 6143f6c
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/ur_e_description/urdf/ur3e.urdf.xacro b/ur_e_description/urdf/ur3e.urdf.xacro
@@ -187,7 +187,7 @@
       <parent link="${prefix}forearm_link" />
       <child link = "${prefix}wrist_1_link" />
       <origin xyz="${__kinematics['wrist_1']['x']} ${__kinematics['wrist_1']['y']} ${__kinematics['wrist_1']['z']}" rpy="${__kinematics['wrist_1']['roll']} ${__kinematics['wrist_1']['pitch']} ${__kinematics['wrist_1']['yaw']}" />
-      <axis xyz="0 1 0" />
+      <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/>
       </xacro:unless>

diff --git a/ur_e_description/urdf/ur5e.urdf.xacro b/ur_e_description/urdf/ur5e.urdf.xacro
@@ -187,7 +187,7 @@
       <parent link="${prefix}forearm_link" />
       <child link = "${prefix}wrist_1_link" />
       <origin xyz="${__kinematics['wrist_1']['x']} ${__kinematics['wrist_1']['y']} ${__kinematics['wrist_1']['z']}" rpy="${__kinematics['wrist_1']['roll']} ${__kinematics['wrist_1']['pitch']} ${__kinematics['wrist_1']['yaw']}" />
-      <axis xyz="0 1 0" />
+      <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="6.28"/>
       </xacro:unless>