Visual offset in wrist_2 and wrist_3 for UR3

[ShahhhVihaan]

I pass on initial_positions for a UR3 arm to ur.ros2_control.xacro and I noticed that when the wrist_3 intial position is 0 wrist_2 and wrist_3 seem to be aligned and for other initial positions wrist_3 looks offset from wrist_2's axis. I do not change the urdf from the ur_description package.

Is this an issue with the urdf and if yes, how do we fix it?

[urfeex]

Thank you for reporting this. This is definitively wrong.

[ShahhhVihaan]

@urfeex May I ask how you generate the xacro files from the CAD model? Do you have internal scripts for cad to urdf generation?

Just curious because the plugins or tools that are most common online for solidworks, fusion360 or onshape all seem to have certain issues that I always have to work around.

[urfeex]

This is mainly a manual process, as we don't release new models that often ;-)

In fact, this particular mesh was added back in 2015 and never changed since then (apart from the ambience). So, I assume that this error has been hanging around for quite a while now.

[ShahhhVihaan]

I see. Thank you.

How can we go about fixing this?

[urfeex]

@ShahhhVihaan I have just created #258. Could you give that a test?