<parent link="base_link"/>
<child link="link1"/>
<axis xyz="0 0 1"/>
- <limit effort="1000.0" lower="0.0" upper="5.672320068981571" velocity="1.0"/>
+ <limit effort="1000.0" lower="-5.672320068981571" upper="0.0" velocity="1.0"/>
</joint>
<joint name="link_1_2_joint" type="continuous">
<child link="link3"/>
<axis xyz="0 0 1"/>
<origin xyz="0.240 0.0 0.0" rpy="0 0 0"/>
- <limit effort="1000.0" lower="0.0" upper="3.141592653589793" velocity="1.0"/>
+ <limit effort="1000.0" lower="-3.141592653589793" upper="0.0" velocity="1.0"/>
</joint>
<joint name="gripper_joint_1" type="continuous">
<child link="gripper_pole1"/>
<axis xyz="1 0 0"/>
<origin xyz="0 0.135 0.0" rpy="1.57075 0 1.57075"/>
- <limit effort="1000.0" lower="-0.6981317007977319" upper="7.679448708775051" velocity="1.0"/>
+ <limit effort="1000.0" lower="-7.679448708775051" upper="0.6981317007977319" velocity="1.0"/>
</joint>
<joint name="gripper_joint_2" type="continuous">