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](https://github.com/ipa320/schunk_modular_robotics/tree/indigo_dev/schunk_description/urdf/lwa)
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.
I APOLOGIZE for the sloppiness of the below code...unsure how to format xml here and cant attach files yet
Schunk.urdf.xacro:
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