Difference between the URDF and VREP models

[mathieu-celerier]

I've been working on poppy at schools for few months now, working on compliant control.

I'm only working in simulation on V-REP for the moment, I use the URDF to rebuild the complete model of the robot in my program, and I noticed a difference on the r_soulder_x.

While standing up, arms down in V-REP, the robot plot from URDF have the right arm straight up.

Is it an issue or an intended behaviour ?

Mat

[ymollard]

This is unintended I guess, now let's try to find the issue :)

I think that link should be rotated to match the left side:

I would say that yaw = -1.5707963267949 there should be positive instead.