change orientation of base bodies for UR to match frame used by real robot controlbox

tlpss · tlpss · commit c6c202003c72 · 2024-12-19T17:35:20.000+01:00
diff --git a/universal_robots_ur10e/ur10e.xml b/universal_robots_ur10e/ur10e.xml
@@ -68,7 +68,7 @@
 
   <worldbody>
     <light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2"/>
-    <body name="base" quat="1 0 0 1" childclass="ur10e">
+    <body name="base" quat="0 0 0 -1" childclass="ur10e">
       <inertial mass="4.0" pos="0 0 0" diaginertia="0.0061063308908 0.0061063308908 0.01125"/>
       <geom mesh="base_0" material="black" class="visual"/>
       <geom mesh="base_1" material="jointgray" class="visual"/>
diff --git a/universal_robots_ur5e/ur5e.xml b/universal_robots_ur5e/ur5e.xml
@@ -61,7 +61,7 @@
 
   <worldbody>
     <light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2"/>
-    <body name="base" quat="1 0 0 1" childclass="ur5e">
+    <body name="base" quat="0 0 0 -1" childclass="ur5e">
       <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072"/>
       <geom mesh="base_0" material="black" class="visual"/>
       <geom mesh="base_1" material="jointgray" class="visual"/>
