Jonathan-Vorndamme

MDH to urdf does not work for alpha != 0 and th != 0 at the same time

1

Thanks for publishing this :). I think I found a small mistake: If alpha and th are non-zero, the resulting urdf joint transform is T_urdf = T(a, dy, dz)*R_z(th)*R_x(alpha)*R_z(q) while...