twist convention for URDF links
Opened this issue · 2 comments
iamtesch commented
Ensure the convention for the "twist" variable when creating an X5-link matches that of the rest of the API.
iamtesch commented
Confirmed that it does with the new xacro restructure
ankitbhatia commented
There is a bug in the origin computation for the visual and collision geometry generation for the output flange A-2039-02.stl.
The correct origin is
<origin xyz="${extension} ${-sin(twist) * edge_to_center} ${edge_to_center * (1 + cos(twist))}" rpy="${twist} 0 0"/>