From 7697b87c6b996c20b37c54b2ff80420dfa594f59 Mon Sep 17 00:00:00 2001
From: Felix Mauch <mauch@fzi.de>
Date: Mon, 17 Jun 2019 17:29:12 +0200
Subject: [PATCH] Use correct ee_link orientation for eSeries

---
 ur_e_description/urdf/ur10e.urdf.xacro | 2 +-
 ur_e_description/urdf/ur3e.urdf.xacro  | 2 +-
 ur_e_description/urdf/ur5e.urdf.xacro  | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ur_e_description/urdf/ur10e.urdf.xacro b/ur_e_description/urdf/ur10e.urdf.xacro
index 6b5048422..78afc98a7 100644
--- 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="${prefix}ee_link">
diff --git a/ur_e_description/urdf/ur3e.urdf.xacro b/ur_e_description/urdf/ur3e.urdf.xacro
index f4a32c8b9..27df02efc 100644
--- a/ur_e_description/urdf/ur3e.urdf.xacro
+++ b/ur_e_description/urdf/ur3e.urdf.xacro
@@ -291,7 +291,7 @@
     <joint name="${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="${prefix}ee_link">
diff --git a/ur_e_description/urdf/ur5e.urdf.xacro b/ur_e_description/urdf/ur5e.urdf.xacro
index 61b596f72..bb1941b88 100644
--- a/ur_e_description/urdf/ur5e.urdf.xacro
+++ b/ur_e_description/urdf/ur5e.urdf.xacro
@@ -291,7 +291,7 @@
     <joint name="${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">