Fix joint 3 and 5 rotation direction.

diff --git a/wam_description/xacro/wam_j3.urdf.xacro b/wam_description/xacro/wam_j3.urdf.xacro
index 1991fa9..aeabe2a 100644 (file)
--- a/wam_description/xacro/wam_j3.urdf.xacro
+++ b/wam_description/xacro/wam_j3.urdf.xacro
@@ -47,7 +47,7 @@
                <parent link="${parent}"/>
                <child link="wam_link_3_virtual"/>
                <origin rpy="${-M_PI/2} 0 0" xyz="0.0 0.0 0.55"/>
-               <axis xyz="0 1 0"/>
+               <axis xyz="0 -1 0"/>
 <!--
        from Barrett Technology, Inc, WAM Arm User's Manual, 2008, Document:
        D1001, Version: AH.00

diff --git a/wam_description/xacro/wam_j5.urdf.xacro b/wam_description/xacro/wam_j5.urdf.xacro
index f33faef..d7770cd 100644 (file)
--- a/wam_description/xacro/wam_j5.urdf.xacro
+++ b/wam_description/xacro/wam_j5.urdf.xacro
@@ -43,7 +43,7 @@
                <parent link="${parent}"/>
                <child link="wam_link_5"/>
                <origin rpy="${-M_PI/2} 0 0" xyz="0.0 0.0 0.3"/>
-               <axis xyz="0 1 0"/>
+               <axis xyz="0 -1 0"/>
 <!--
        from Barrett Technology, Inc, WAM Arm User's Manual, 2008, Document:
        D1001, Version: AH.00