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Fixed wheel orientation (pain)

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Pimpest
2024-09-27 09:41:55 +02:00
parent 98108f9e70
commit a5106aaaba
1 changed files with 7 additions and 5 deletions
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12
mg_wheel_interface/assets/mg_base.urdf
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@ -21,11 +21,12 @@
</link> </link>
<link name="left-wheel"> <link name="left-wheel">
<visual> <visual>
<geometry> <geometry>
<cylinder radius="0.1" length="0.05"/> <cylinder radius="0.1" length="0.05"/>
</geometry> </geometry>
<origin xyz="0 0 0" rpy="1.57 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<material name="gray" /> <material name="gray" />
</visual> </visual>
</link> </link>
@ -35,21 +36,22 @@
<geometry> <geometry>
<cylinder radius="0.1" length="0.05"/> <cylinder radius="0.1" length="0.05"/>
</geometry> </geometry>
<origin xyz="0 0 0" rpy="1.57 0 0" /> <origin xyz="0 0 0." rpy="0 0 0" />
<material name="gray" /> <material name="gray" />
</visual> </visual>
</link> </link>
<joint name="right_motor" type="continuous"> <joint name="right_motor" type="continuous">
<parent link="base-link"/> <parent link="base-link"/>
<child link="right-wheel"/> <child link="right-wheel"/>
<origin xyz="0 -0.25 0.1" rpy="0 0 3.141592" /> <origin xyz="0 -0.25 0.1" rpy="1.57 0 0" />
<axis xyz="0 0 1"/>
</joint> </joint>
<joint name="left_motor" type="continuous"> <joint name="left_motor" type="continuous">
<parent link="base-link"/> <parent link="base-link"/>
<child link="left-wheel"/> <child link="left-wheel"/>
<origin xyz="0 0.25 0.1" rpy="0 0 0" /> <origin xyz="0 0.25 0.1" rpy="1.57 0 0" />
<axis xyz="0 0 1"/>
</joint> </joint>