Fixed xml parameters for both legs according to real robot. Turn dire…

…ctions were different. See this issue for further information: roboticslab-uc3m/yarp-devices#115 modified: openrave/teo/teo_leftLeg.kinbody.xml modified: openrave/teo/teo_rightLeg.kinbody.xml
roboticslab-uc3m · Apr 27, 2017 · 75e1931 · 75e1931
1 parent 5e9226c
commit 75e1931
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/openrave/teo/teo_leftLeg.kinbody.xml b/openrave/teo/teo_leftLeg.kinbody.xml
@@ -23,7 +23,7 @@
             <offsetfrom>r60</offsetfrom>
             <weight>1.0</weight>
             <limitsdeg>-90 90</limitsdeg>
-            <axis>0 0 1</axis>
+            <axis>0 0 -1</axis>
             <maxvel>30</maxvel>
             <resolution>1</resolution>
             </Joint>
@@ -152,7 +152,7 @@
             <offsetfrom>r65</offsetfrom>
             <weight>1.0</weight>
             <limitsdeg>-25 25</limitsdeg>
-            <axis>-1 0 0</axis>
+            <axis>1 0 0</axis>
             <maxvel>30</maxvel>
             <resolution>1</resolution>
             </Joint>

diff --git a/openrave/teo/teo_rightLeg.kinbody.xml b/openrave/teo/teo_rightLeg.kinbody.xml
@@ -21,7 +21,7 @@
         <offsetfrom>r50</offsetfrom>
         <weight>1.0</weight>
         <limitsdeg>-90 90</limitsdeg>
-        <axis>0 0 -1</axis>
+        <axis>0 0 1</axis>
         <maxvel>30</maxvel>
         <resolution>1</resolution>
         </Joint>
@@ -45,7 +45,7 @@
         <offsetfrom>r51</offsetfrom>
         <weight>1.0</weight>
         <limitsdeg>-20 20</limitsdeg>
-        <axis>-1 0 0</axis>
+        <axis>1 0 0</axis>
         <maxvel>30</maxvel>
         <resolution>1</resolution>
         </Joint>