fixced joint axes orientation

KNR-PW · Nov 10, 2024 · 51edc61 · 51edc61
1 parent 192ed1a
commit 51edc61
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Showing 8 changed files with 8 additions and 8 deletions.
diff --git a/src/meldog_description/description/joints/hip/LFH_joint.urdf.xacro b/src/meldog_description/description/joints/hip/LFH_joint.urdf.xacro
@@ -12,7 +12,7 @@
                upper="${H_upper_limit/180.0*pi}" 
                effort="${H_effort}" 
                velocity="${H_velocity}" />
-        <axis xyz="0 1 0" />
+        <axis xyz="0 -1 0" />
     </joint>
 
 </robot>
diff --git a/src/meldog_description/description/joints/hip/LRH_joint.urdf.xacro b/src/meldog_description/description/joints/hip/LRH_joint.urdf.xacro
@@ -12,7 +12,7 @@
                upper="${H_upper_limit/180.0*pi}" 
                effort="${H_effort}" 
                velocity="${H_velocity}" />
-        <axis xyz="0 1 0" />
+        <axis xyz="0 -1 0" />
     </joint>
 
 </robot>
diff --git a/src/meldog_description/description/joints/hip/RFH_joint.urdf.xacro b/src/meldog_description/description/joints/hip/RFH_joint.urdf.xacro
@@ -12,7 +12,7 @@
                upper="${H_upper_limit/180.0*pi}" 
                effort="${H_effort}" 
                velocity="${H_velocity}" />
-        <axis xyz="0 1 0" />
+        <axis xyz="0 -1 0" />
     </joint>
 
 </robot>
diff --git a/src/meldog_description/description/joints/hip/RRH_joint.urdf.xacro b/src/meldog_description/description/joints/hip/RRH_joint.urdf.xacro
@@ -12,7 +12,7 @@
                upper="${H_upper_limit/180.0*pi}" 
                effort="${H_effort}" 
                velocity="${H_velocity}" />
-        <axis xyz="0 1 0" />
+        <axis xyz="0 -1 0" />
     </joint>
 
 </robot>
diff --git a/src/meldog_description/description/joints/knee/LFK_joint.urdf.xacro b/src/meldog_description/description/joints/knee/LFK_joint.urdf.xacro
@@ -9,7 +9,7 @@
             upper="${K_upper_limit/180.0*pi}" 
             effort="${K_effort}" 
             velocity="${K_velocity}" />
-        <axis xyz="0 1 0" />
+        <axis xyz="0 -1 0" />
     </joint>
 
 </robot>
diff --git a/src/meldog_description/description/joints/knee/LRK_joint.urdf.xacro b/src/meldog_description/description/joints/knee/LRK_joint.urdf.xacro
@@ -9,7 +9,7 @@
                upper="${K_upper_limit/180.0*pi}" 
                effort="${K_effort}" 
                velocity="${K_velocity}" />
-        <axis xyz="0 1 0" />
+        <axis xyz="0 -1 0" />
     </joint>
 
 </robot>
diff --git a/src/meldog_description/description/joints/knee/RFK_joint.urdf.xacro b/src/meldog_description/description/joints/knee/RFK_joint.urdf.xacro
@@ -9,7 +9,7 @@
                upper="${K_upper_limit/180.0*pi}" 
                effort="${K_effort}" 
                velocity="${K_velocity}" />
-        <axis xyz="0 1 0" />
+        <axis xyz="0 -1 0" />
     </joint>
 
 </robot>
diff --git a/src/meldog_description/description/joints/knee/RRK_joint.urdf.xacro b/src/meldog_description/description/joints/knee/RRK_joint.urdf.xacro
@@ -9,7 +9,7 @@
                upper="${K_upper_limit/180.0*pi}" 
                effort="${K_effort}" 
                velocity="${K_velocity}" />
-        <axis xyz="0 1 0" />
+        <axis xyz="0 -1 0" />
     </joint>
 
 </robot>