From 5bd3f425969181c6de15a3f8b32bf72ab5c83772 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Tue, 17 Sep 2013 21:40:51 +0200
Subject: [PATCH] urdf: fix x center position

---
 urdf/explorer.urdf | 21 ++++++++++-----------
 1 file changed, 10 insertions(+), 11 deletions(-)

diff --git a/urdf/explorer.urdf b/urdf/explorer.urdf
index af960a0..a32a1af 100644
--- a/urdf/explorer.urdf
+++ b/urdf/explorer.urdf
@@ -5,7 +5,7 @@
 			<geometry>
 				<box size="0.14 0.155 0.085"/>
 			</geometry>
-			<origin xyz="0.06 0 0.0525" rpy="0 0 0"/>
+			<origin xyz="0.0 0 0.0525" rpy="0 0 0"/>
 			<material name="white_transparent">
 				<color rgba="1 1 1 0.8"/>
 			</material>
@@ -17,7 +17,6 @@
 			<geometry>
 				<box size="0.06 0.09 0.075"/>
 			</geometry>
-			<origin xyz="0 0 0.0525" rpy="0 0 0"/>
 			<material name="red">
 				<color rgba="1 0 0 1"/>
 			</material>
@@ -57,12 +56,12 @@
 		</visual>
 	</link>
 
-	<link name="scan">
+	<link name="forward_sensor">
 		<visual>
 			<geometry>
 				<box size="0.015 0.045 0.03"/>
 			</geometry>
-			<origin xyz="0.065 0 0.06" rpy="0 0 0"/>
+			<origin xyz="0 0 0" rpy="0 0 0"/>
 			<material name="black">
 				<color rgba="0 0 0 1"/>
 			</material>
@@ -72,30 +71,30 @@
 	<joint name="tail_joint" type="fixed">
 		<parent link="base_link"/>
 		<child link="tail"/>
-		<origin xyz="-0.04 0 0.005" rpy="0 0 0"/>
+		<origin xyz="-0.1 0 0.0575" rpy="0 0 0"/>
 	</joint>
 
 	<joint name="left_wheel_joint" type="fixed">
 		<parent link="base_link"/>
 		<child link="left_wheel"/>
-		<origin xyz="0.07 -0.08 0.026" rpy="1.57 0 0"/>
+		<origin xyz="0 -0.08 0.026" rpy="1.57 0 0"/>
 	</joint>
 
 	<joint name="right_wheel_joint" type="fixed">
 		<parent link="base_link"/>
 		<child link="right_wheel"/>
-		<origin xyz="0.07 0.08 0.026" rpy="1.57 0 0"/>
+		<origin xyz="0 0.08 0.026" rpy="1.57 0 0"/>
 	</joint>
 
 	<joint name="aft_wheel_joint" type="fixed">
 		<parent link="tail"/>
 		<child link="aft_wheel"/>
-		<origin xyz="0 0 0.005" rpy="1.57 0 0"/>
+		<origin xyz="0 0 -0.0475" rpy="1.57 0 0"/>
 	</joint>
 
-	<joint name="scan_joint" type="fixed">
+	<joint name="forward_sensor_joint" type="fixed">
 		<parent link="base_link"/>
-		<child link="scan"/>
-		<origin xyz="0.06 0 0" rpy="0 0 0"/>
+		<child link="forward_sensor"/>
+		<origin xyz="0.07 0 0.06" rpy="0 0 0"/>
 	</joint>
 </robot>
-- 
2.39.2