From d40511d2d56963fbcfd5b923d89abc522c17293b Mon Sep 17 00:00:00 2001
From: tfield <devnull@localhost>
Date: Tue, 23 Mar 2010 19:34:38 +0000
Subject: [PATCH] collada_urdf: adding hack to axes to placate OpenRAVE

---
 collada_urdf/src/urdf_to_collada.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp
index 1232a3c..1648f4c 100644
--- a/collada_urdf/src/urdf_to_collada.cpp
+++ b/collada_urdf/src/urdf_to_collada.cpp
@@ -522,6 +522,11 @@ public:
                 axis_z = 0.0;
             }
 
+            // @hack: OpenRAVE appears to flip joint axes
+            axis_x *= -1.0;
+            axis_y *= -1.0;
+            axis_z *= -1.0;
+
             switch (urdf_joint->type)
             {
                 case urdf::Joint::REVOLUTE: {
@@ -896,7 +901,6 @@ public:
                 string joint_rotate_sid = string("node_") + joint_sid + string("_axis0");
                 joint_rotate->setSid(joint_rotate_sid.c_str());
 
-                cout << "setting " << urdf_link->parent_joint->name << " to " << node_id << endl;
                 node_ids_[urdf_link->parent_joint->name] = node_id;
             }