From 6d5da08f4e5a0db450ce3f0615d942ff4926f79c Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 7 Nov 2015 11:06:48 +0100
Subject: [PATCH] urdf joint angle to hw

---
 urdf/arm.urdf | 34 +++++++++++++++++-----------------
 1 file changed, 17 insertions(+), 17 deletions(-)

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index a8c9538..0bd1907 100644
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf
@@ -107,53 +107,53 @@
 		</visual>
 	</link>
 
-	<joint name="base_link_to_plate" type="fixed">
+	<joint name="plate_joint" type="fixed">
 		<parent link="base_link"/>
 		<child link="plate"/>
 		<origin xyz="0 0 0.00375"/>
 	</joint>
 
-	<joint name="plate_to_arm_base" type="fixed">
+	<joint name="arm_base_joint" type="fixed">
 		<parent link="plate"/>
 		<child link="arm_base"/>
 		<origin xyz="0 0.099 0"/>
 	</joint>
 
-	<joint name="arm_base_to_link1" type="revolute">
+	<joint name="link1_joint" type="revolute">
 		<parent link="arm_base"/>
 		<child link="link1"/>
-		<axis xyz="0 0 1"/>
-		<limit effort="1000.0" lower="-5.672320068981571" upper="0.0" velocity="1.0"/>
+		<axis xyz="0 0 -1"/>
+		<limit effort="1000.0" lower="0.0" upper="5.672320068981571" velocity="1.0"/>
 	</joint>
 
-	<joint name="link_1_2_joint" type="revolute">
+	<joint name="link2_joint" type="revolute">
 		<parent link="link1"/>
 		<child link="link2"/>
-		<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"/>
 	</joint>
 
-	<joint name="link_2_3_joint" type="revolute">
+	<joint name="link3_joint" type="revolute">
 		<parent link="link2"/>
 		<child link="link3"/>
 		<axis xyz="0 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"/>
 	</joint>
 
-	<joint name="link_3_4_joint" type="revolute">
+	<joint name="link4_joint" type="revolute">
 		<parent link="link3"/>
 		<child link="link4"/>
-		<axis xyz="0 0 1"/>
+		<axis xyz="0 0 -1"/>
 		<origin xyz="0 0 0.135" rpy="0 0 0"/>
-		<limit effort="1000.0" lower="-5.4978" upper="0.15708" velocity="1.0"/>
+		<limit effort="1000.0" lower="-0.15708" upper="5.4978" velocity="1.0"/>
 	</joint>
 
-	<joint name="link_4_5_joint" type="revolute">
+	<joint name="link5_joint" type="revolute">
 		<parent link="link4"/>
 		<child link="link5"/>
-		<axis xyz="0 1 0"/>
+		<axis xyz="0 -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>
-- 
2.39.2