From 6143f6cd7c56ddb46f18fdfb4ba6c32076643b5c Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Fri, 21 Jun 2019 13:32:50 +0200
Subject: [PATCH] fixed rotation axis of wrist_1 in UR3e and UR5e

---
 ur_e_description/urdf/ur3e.urdf.xacro | 2 +-
 ur_e_description/urdf/ur5e.urdf.xacro | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ur_e_description/urdf/ur3e.urdf.xacro b/ur_e_description/urdf/ur3e.urdf.xacro
index 27df02efc..9f4e7d07e 100644
--- 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
index bb1941b88..ec12e02a5 100644
--- 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>