From ff3a7a463cac0e38723d528e5c128d5aca29ce74 Mon Sep 17 00:00:00 2001 From: Michal Staniaszek Date: Thu, 28 Sep 2023 11:27:27 +0100 Subject: [PATCH] update friendly joint names to match new urdf names --- spot_driver/src/spot_driver/ros_helpers.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/spot_driver/src/spot_driver/ros_helpers.py b/spot_driver/src/spot_driver/ros_helpers.py index 0eb2976d..b52adbd8 100644 --- a/spot_driver/src/spot_driver/ros_helpers.py +++ b/spot_driver/src/spot_driver/ros_helpers.py @@ -58,13 +58,13 @@ friendly_joint_names["hr.kn"] = "rear_right_knee" # arm joints -friendly_joint_names["arm0.sh0"] = "arm_joint1" -friendly_joint_names["arm0.sh1"] = "arm_joint2" -friendly_joint_names["arm0.el0"] = "arm_joint3" -friendly_joint_names["arm0.el1"] = "arm_joint4" -friendly_joint_names["arm0.wr0"] = "arm_joint5" -friendly_joint_names["arm0.wr1"] = "arm_joint6" -friendly_joint_names["arm0.f1x"] = "arm_gripper" +friendly_joint_names["arm0.sh0"] = "arm_sh0" +friendly_joint_names["arm0.sh1"] = "arm_sh1" +friendly_joint_names["arm0.el0"] = "arm_el0" +friendly_joint_names["arm0.el1"] = "arm_el1" +friendly_joint_names["arm0.wr0"] = "arm_wr1" +friendly_joint_names["arm0.wr1"] = "arm_wr1" +friendly_joint_names["arm0.f1x"] = "arm_f1x" class DefaultCameraInfo(CameraInfo):