Changed iiwa7.xarco link2 and 3 transform to eliminate link misalignm…

…ent.
IFL-CAMP · Mar 27, 2017 · b4c15ec · b4c15ec
1 parent 2fa5bd5
commit b4c15ec
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/iiwa_description/urdf/iiwa7.xacro b/iiwa_description/urdf/iiwa7.xacro
@@ -114,15 +114,15 @@
 	<inertia ixx="0.02076"  ixy="0"  ixz="-0.003626" iyy="0.02179" iyz="0" izz="0.00779" />
       </inertial>
       <visual>
-	<origin xyz="0 0 -0.0060" rpy="0 0 0"/>
+	<origin xyz="0 0 0" rpy="0 0 0"/>
 	<geometry>
 	  <mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_2.stl"/>
 	</geometry>
 	<material name="Orange"/>
       </visual>
 
       <collision>
-	<origin xyz="0 0 -0.0060" rpy="0 0 0"/>
+	<origin xyz="0 0 0" rpy="0 0 0"/>
 	<geometry>
 	  <mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_2.stl"/>
 	</geometry>
@@ -152,15 +152,15 @@
       </inertial>
 
       <visual>
-	<origin xyz="0 -0.005 -0.026" rpy="0 0 0"/>
+	<origin xyz="0 0 -0.026" rpy="0 0 0"/>
 	<geometry>
 	  <mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_3.stl"/>
 	</geometry>
 	<material name="Orange"/>
       </visual>
 
       <collision>
-	<origin xyz="0 -0.005 -0.026" rpy="0 0 0"/>
+	<origin xyz="0 0 -0.026" rpy="0 0 0"/>
 	<geometry>
 	  <mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_3.stl"/>
 	</geometry>