- <axis xyz="0 1 0"/>
- <origin xyz="0.0 0.0 0.123" rpy="0 0 0"/>
- <limit effort="1000.0" lower="-2.0402" upper="1.4203" velocity="1.0"/>
+ <axis xyz="0 -1 0"/>
+ <origin xyz="0.0 0.0 0.123" rpy="0 1.5708 0"/>
+ <limit effort="1000.0" lower="0.1505" upper="3.611" velocity="1.0"/>
- <origin xyz="0 0 0.240" rpy="0 0 0"/>
- <limit effort="1000.0" lower="-1.5708" upper="1.5708" velocity="1.0"/>
+ <origin xyz="0 0 0.240" rpy="0 -1.5708 0"/>
+ <limit effort="1000.0" lower="0" upper="3.1416" velocity="1.0"/>
<origin xyz="0 0 0.06" rpy="0 0 0"/>
<limit effort="1000.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
</joint>
<origin xyz="0 0 0.06" rpy="0 0 0"/>
<limit effort="1000.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
</joint>