Use correct ee_link orientation for eSeries

ros-industrial · Jun 17, 2019 · 7697b87 · 7697b87
1 parent 3a3d1b0
commit 7697b87
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/ur_e_description/urdf/ur10e.urdf.xacro b/ur_e_description/urdf/ur10e.urdf.xacro
@@ -293,7 +293,7 @@
     <joint name="${prefix}ee_fixed_joint" type="fixed">
       <parent link="${prefix}wrist_3_link" />
       <child link = "${prefix}ee_link" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 ${pi/2.0}" />
+      <origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} ${pi/2.0}" />
     </joint>
 
     <link name="${prefix}ee_link">

diff --git a/ur_e_description/urdf/ur3e.urdf.xacro b/ur_e_description/urdf/ur3e.urdf.xacro
@@ -291,7 +291,7 @@
     <joint name="${prefix}ee_fixed_joint" type="fixed">
       <parent link="${prefix}wrist_3_link" />
       <child link = "${prefix}ee_link" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 ${pi/2.0}" />
+      <origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} ${pi/2.0}" />
     </joint>
 
     <link name="${prefix}ee_link">

diff --git a/ur_e_description/urdf/ur5e.urdf.xacro b/ur_e_description/urdf/ur5e.urdf.xacro
@@ -291,7 +291,7 @@
     <joint name="${prefix}ee_fixed_joint" type="fixed">
       <parent link="${prefix}wrist_3_link" />
       <child link = "${prefix}ee_link" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 ${pi/2.0}" />
+      <origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} ${pi/2.0}" />
     </joint>
 
     <link name="${prefix}ee_link">