use default kuka joint names

ros-industrial · Feb 5, 2021 · 4306d4f · 4306d4f
1 parent 0a08e93
commit 4306d4f
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/kuka_kr60_support/urdf/kr60ha_macro.xacro b/kuka_kr60_support/urdf/kr60ha_macro.xacro
@@ -154,47 +154,47 @@
 
     <!-- JOINTS -->
     <!-- joint 1 (A1) -->
-    <joint name="${prefix}joint_1" type="revolute">
+    <joint name="${prefix}joint_a1" type="revolute">
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <parent link="${prefix}base_link"/>
       <child link="${prefix}link_1"/>
       <axis xyz="0 0 -1"/>
       <limit effort="0" lower="${-radians(185)}" upper="${radians(185)}" velocity="${radians(128)}"/>
     </joint>
     <!-- joint 2 (A2) -->
-    <joint name="${prefix}joint_2" type="revolute">
+    <joint name="${prefix}joint_a2" type="revolute">
       <origin xyz="0.35 0 0.815" rpy="0 0 0"/>
       <parent link="${prefix}link_1"/>
       <child link="${prefix}link_2"/>
       <axis xyz="0 1 0"/>
       <limit effort="0" lower="${-radians(135)}" upper="${radians(35)}" velocity="${radians(120)}"/>
     </joint>
     <!-- joint 3 (A3) -->
-    <joint name="${prefix}joint_3" type="revolute">
+    <joint name="${prefix}joint_a3" type="revolute">
       <origin xyz="0.85 0 0" rpy="0 0 0"/>
       <parent link="${prefix}link_2"/>
       <child link="${prefix}link_3"/>
       <axis xyz="0 1 0"/>
       <limit effort="0" lower="${-radians(120)}" upper="${radians(158)}" velocity="${radians(128)}"/>
     </joint>
     <!-- joint 4 (A4) -->
-    <joint name="${prefix}joint_4" type="revolute">
+    <joint name="${prefix}joint_a4" type="revolute">
       <origin xyz="0.465 0 0.145" rpy="0 0 0"/>
       <parent link="${prefix}link_3"/>
       <child link="${prefix}link_4"/>
       <axis xyz="-1 0 0"/>
       <limit effort="0" lower="${-radians(350)}" upper="${radians(350)}" velocity="${radians(260)}"/>
     </joint>
     <!-- joint 5 (A5) -->
-    <joint name="${prefix}joint_5" type="revolute">
+    <joint name="${prefix}joint_a5" type="revolute">
       <origin xyz="0.355 0 0" rpy="0 0 0"/>
       <parent link="${prefix}link_4"/>
       <child link="${prefix}link_5"/>
       <axis xyz="0 1 0"/>
       <limit effort="0" lower="${-radians(119)}" upper="${radians(119)}" velocity="${radians(245)}"/>
     </joint>
     <!-- joint 6 (A6) -->
-    <joint name="${prefix}joint_6" type="revolute">
+    <joint name="${prefix}joint_a6" type="revolute">
       <origin xyz="0.17 0 0" rpy="0 0 0"/>
       <parent link="${prefix}link_5"/>
       <child link="${prefix}link_6"/>