Tweaks to model and doco

petercorke · petercorke · commit 9616da0b43df · 2021-04-07T15:09:02.000+10:00
diff --git a/roboticstoolbox/models/URDF/Puma560.py b/roboticstoolbox/models/URDF/Puma560.py
@@ -26,6 +26,13 @@ class Puma560(ERobot):
     - qs, arm is stretched out in the x-direction
     - qn, arm is at a nominal non-singular configuration
 
+    .. warning:: This file has been modified so that the zero-angle pose is the
+        same as the DH model in the toolbox. ``j3`` rotation is changed from
+        -𝜋/2 to 𝜋/2.  Dimensions are also slightly different.  Both models
+        include the pedestal height.
+
+    .. note:: The original file is from https://github.com/nimasarli/puma560_description/blob/master/urdf/puma560_robot.urdf.xacro
+
     .. codeauthor:: Jesse Haviland
     .. sectionauthor:: Peter Corke
     """
diff --git a/rtb-data/rtbdata/xacro/puma560_description/urdf/puma560_robot.urdf.xacro b/rtb-data/rtbdata/xacro/puma560_description/urdf/puma560_robot.urdf.xacro
@@ -93,7 +93,7 @@
   <joint name="j3" type="revolute">
     <parent link="link3"/>
     <child link="link4"/>
-    <origin xyz="${a_2} ${a_3} ${d_2}" rpy="0 0 ${-M_PI/2}"/>
+    <origin xyz="${a_2} ${a_3} ${d_2}" rpy="0 0 ${M_PI/2}"/>
     <axis xyz="0 0 1"/> <!-- This is descibed in child frame -->
     <limit effort="1000.0" lower="${-M_PI/2}" upper="${M_PI/2}" velocity="0"/>
   </joint>
