From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 2 Oct 2019 03:58:08 +0000 (-0300)
Subject: Fix joint 3 and 5 rotation direction.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=refs%2Fheads%2Findigo;p=ufrgs_wam.git

Fix joint 3 and 5 rotation direction.
---

diff --git a/wam_description/xacro/wam_j3.urdf.xacro b/wam_description/xacro/wam_j3.urdf.xacro
index 4b2f2bf..04462f4 100644
--- a/wam_description/xacro/wam_j3.urdf.xacro
+++ b/wam_description/xacro/wam_j3.urdf.xacro
@@ -47,7 +47,7 @@
 		<parent link="${parent}"/>
 		<child link="wam_link_3_virtual"/>
 		<origin rpy="${-M_PI/2} 0 0" xyz="0.0 0.0 0.55"/>
-		<axis xyz="0 1 0"/>
+		<axis xyz="0 -1 0"/>
 <!--
 	from Barrett Technology, Inc, WAM Arm User's Manual, 2008, Document:
 	D1001, Version: AH.00
diff --git a/wam_description/xacro/wam_j5.urdf.xacro b/wam_description/xacro/wam_j5.urdf.xacro
index 6e422f8..9eddbdd 100644
--- a/wam_description/xacro/wam_j5.urdf.xacro
+++ b/wam_description/xacro/wam_j5.urdf.xacro
@@ -43,7 +43,7 @@
 		<parent link="${parent}"/>
 		<child link="wam_link_5"/>
 		<origin rpy="${-M_PI/2} 0 0" xyz="0.0 0.0 0.3"/>
-		<axis xyz="0 1 0"/>
+		<axis xyz="0 -1 0"/>
 <!--
 	from Barrett Technology, Inc, WAM Arm User's Manual, 2008, Document:
 	D1001, Version: AH.00