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Match frame of UR robots with base frame used by real robot controlbox #133

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Merged
merged 1 commit into from
Jan 10, 2025
Merged

Match frame of UR robots with base frame used by real robot controlbox #133

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2 changes: 1 addition & 1 deletion universal_robots_ur10e/ur10e.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"/>
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2 changes: 1 addition & 1 deletion universal_robots_ur5e/ur5e.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"/>
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