Generated Schunk .urdf has incorrect orientations
Hello,
I am working with a Schunk LWA 3 (dof 7) arm and controlling it through MoveIt!
I use the below schunk.urdf.xacro and $rosrun xacro xacro.py schunk.urdf.xacro > lwa.urdf
to generate a "high-level" urdf file. The attached file calls the lwa.urdf.xacro from Schunk Description
When I use the resulting urdf in MoveIt! setup assistant everything is fine except that the gripper is inverted and the arm is orientated along the -Z axis.
My question is where do I fix the issue? All the values seem to be positive and correct in the urdf's I am using. Where does this change in orientation come from ?
Thank you for your time.
Schunk.urdf.xacro:
<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
name="schunk" >
<!-- schunk arm -->
<include filename="$(find schunk_description)/urdf/lwa/lwa.urdf.xacro" />
<!-- schunk gripper -->
<include filename="$(find schunk_description)/urdf/pg70/pg70.urdf.xacro" />
<!-- foot for arm-->
<link name="base_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="10.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
</inertial>
</link>
<xacro:schunk_lwa name="arm" parent="base_link">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:schunk_lwa>
<xacro:schunk_pg70 name="gripper" parent="arm_7_link">
<origin xyz="0 0 0" rpy="0 0 0" />
</xacro:schunk_pg70>
</robot>
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