From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 28 Nov 2018 21:58:00 +0000 (-0200)
Subject: Fix xacro syntax.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=8e2380b89cb2764775c6c2f1e25e62265439d10d;p=ufrgs_wam.git

Fix xacro syntax.
---

diff --git a/wam_description/launch/display.launch b/wam_description/launch/display.launch
index 144351b..dbd6912 100644
--- a/wam_description/launch/display.launch
+++ b/wam_description/launch/display.launch
@@ -12,6 +12,6 @@
 
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 
-	<node unless="$(arg table)" name="rviz" pkg="rviz" type="rviz" args="-d $(find wam_description)/rviz/urdf.rviz" required="true"/>
-	<node if="$(arg table)" name="rviz" pkg="rviz" type="rviz" args="-d $(find wam_description)/rviz/urdf.rviz -f world" required="true"/>
+	<node unless="$(arg table)" name="rviz" pkg="rviz" type="rviz" args="-d $(find wam_description)/rviz/display.rviz" required="true"/>
+	<node if="$(arg table)" name="rviz" pkg="rviz" type="rviz" args="-d $(find wam_description)/rviz/display.rviz -f world" required="true"/>
 </launch>
diff --git a/wam_description/launch/gazebo.launch b/wam_description/launch/gazebo.launch
index e2f5062..de023ac 100644
--- a/wam_description/launch/gazebo.launch
+++ b/wam_description/launch/gazebo.launch
@@ -5,7 +5,6 @@
 	<arg name="table" default="true"/>
 	<arg name="bhand" default="true"/>
 
-
 	<include file="$(find gazebo_ros)/launch/empty_world.launch">
 		<arg name="paused" value="$(arg paused)"/>
 		<arg name="headless" value="$(arg headless)"/>
diff --git a/wam_description/launch/wam.launch b/wam_description/launch/wam.launch
index 0e37b66..8de6e4f 100644
--- a/wam_description/launch/wam.launch
+++ b/wam_description/launch/wam.launch
@@ -1,4 +1,4 @@
- <launch>
+<launch>
 	<arg name="table" default="true"/>
 	<arg name="bhand" default="true"/>
 	<arg name="world" default="false"/>
diff --git a/wam_description/rviz/urdf.rviz.bkp b/wam_description/rviz/display.rviz
similarity index 100%
rename from wam_description/rviz/urdf.rviz.bkp
rename to wam_description/rviz/display.rviz
diff --git a/wam_description/rviz/urdf.rviz b/wam_description/rviz/urdf.rviz
deleted file mode 100644
index f36a19b..0000000
--- a/wam_description/rviz/urdf.rviz
+++ /dev/null
@@ -1,289 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-        - /Grid1
-        - /RobotModel1
-        - /RobotModel1/Links1
-        - /RobotModel1/Links1/bhand_base_link1
-        - /RobotModel1/Links1/wam_link_01
-        - /RobotModel1/Links1/wam_link_11
-        - /RobotModel1/Links1/wam_link_21
-        - /RobotModel1/Links1/wam_link_31
-        - /RobotModel1/Links1/wam_link_41
-        - /RobotModel1/Links1/wam_link_51
-        - /RobotModel1/Links1/wam_link_61
-        - /RobotModel1/Links1/wam_link_71
-        - /RobotModel1/Links1/wam_link_base1
-        - /RobotModel1/Links1/wam_link_footprint1
-        - /RobotModel1/Links1/wam_origin1
-        - /RobotModel1/Links1/wam_tool_plate1
-        - /RobotModel1/Links1/world1
-      Splitter Ratio: 0.721154
-    Tree Height: 454
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: ""
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.03
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Alpha: 0.3
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        bhand_base_link:
-          Alpha: 1
-          Show Axes: true
-          Show Trail: false
-          Value: true
-        bhand_finger1_link_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        bhand_finger1_link_2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        bhand_finger1_link_3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        bhand_finger2_link_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        bhand_finger2_link_2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        bhand_finger2_link_3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        bhand_finger3_link_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        bhand_finger3_link_2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        bhand_finger3_link_3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        bhand_origin:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        leg1_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        leg2_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        leg3_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        leg4_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        table_top_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wam_link_0:
-          Alpha: 1
-          Show Axes: true
-          Show Trail: false
-          Value: true
-        wam_link_1:
-          Alpha: 1
-          Show Axes: true
-          Show Trail: false
-          Value: true
-        wam_link_2:
-          Alpha: 1
-          Show Axes: true
-          Show Trail: false
-          Value: true
-        wam_link_3:
-          Alpha: 1
-          Show Axes: true
-          Show Trail: false
-          Value: true
-        wam_link_3_virtual:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        wam_link_4:
-          Alpha: 1
-          Show Axes: true
-          Show Trail: false
-          Value: true
-        wam_link_4_virtual:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        wam_link_5:
-          Alpha: 1
-          Show Axes: true
-          Show Trail: false
-          Value: true
-        wam_link_6:
-          Alpha: 1
-          Show Axes: true
-          Show Trail: false
-          Value: true
-        wam_link_7:
-          Alpha: 1
-          Show Axes: true
-          Show Trail: false
-          Value: true
-        wam_link_base:
-          Alpha: 1
-          Show Axes: true
-          Show Trail: false
-        wam_link_footprint:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        wam_origin:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        wam_tool_plate:
-          Alpha: 1
-          Show Axes: true
-          Show Trail: false
-        world:
-          Alpha: 1
-          Show Axes: true
-          Show Trail: false
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: world
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 0.776736
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: -0.948974
-        Y: 0.396795
-        Z: 1.84864
-      Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.0148
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 2.54046
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 741
-  Hide Left Dock: false
-  Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000013c00000251fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003600000251000000b700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000251fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000036000002510000009b00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000024700fffffffb0000000800540069006d006501000000000000045000000000000000000000036e0000025100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: true
-  Width: 1200
-  X: 82
-  Y: 0
diff --git a/wam_description/xacro/table.urdf.xacro b/wam_description/xacro/table.urdf.xacro
index 43435e5..2db1b74 100644
--- a/wam_description/xacro/table.urdf.xacro
+++ b/wam_description/xacro/table.urdf.xacro
@@ -1,18 +1,18 @@
 <?xml version="1.0"?>
 
-<robot name="table" xmlns:xacro="http://ros.org/wiki/xacro" >
+<robot name="table" xmlns:xacro="http://www.ros.org/wiki/xacro" >
 
-  <property name="table_height" value="0.55" />
-  <property name="table_width" value="1.0" />
-  <property name="table_depth" value="2.0" />
-  <property name="leg_radius" value="0.02" />
-  <property name="table_x" value="0.98" />
-  <property name="table_y" value="0.0" />
-  <property name="table_z" value="0.0" />
+  <xacro:property name="table_height" value="0.55" />
+  <xacro:property name="table_width" value="1.0" />
+  <xacro:property name="table_depth" value="2.0" />
+  <xacro:property name="leg_radius" value="0.02" />
+  <xacro:property name="table_x" value="0.98" />
+  <xacro:property name="table_y" value="0.0" />
+  <xacro:property name="table_z" value="0.0" />
 
-  <property name="table_top_thickness" value="0.05"/>
+  <xacro:property name="table_top_thickness" value="0.05"/>
 
-  <property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="M_PI" value="3.1415926535897931" />
 
 
   <!-- tabletop height is .55+.01+.025=.585 -->
diff --git a/wam_description/xacro/wam.urdf.xacro b/wam_description/xacro/wam.urdf.xacro
index 7607a32..83f0b07 100644
--- a/wam_description/xacro/wam.urdf.xacro
+++ b/wam_description/xacro/wam.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<robot name="wam" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="wam" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:include filename="$(find wam_description)/xacro/wam_base.urdf.xacro" />
   <xacro:include filename="$(find wam_description)/xacro/wam_j1.urdf.xacro" />
@@ -25,7 +25,7 @@
 
   <gazebo>
     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" >
-      <robotNamespace>wam</robotNamespace>
+      <!--robotNamespace>wam</robotNamespace-->
 
       <!-- Custom plugin -->
       <!-- robotSimType>wam_gazebo_ros_control/WamRobotHWSim</robotSimType -->
diff --git a/wam_description/xacro/wam_bhand.urdf.xacro b/wam_description/xacro/wam_bhand.urdf.xacro
index 7b07be7..c5cdf58 100644
--- a/wam_description/xacro/wam_bhand.urdf.xacro
+++ b/wam_description/xacro/wam_bhand.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="wam" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="wam" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:property name="M_PI" value="3.1415926535897931" />  
   
diff --git a/wam_description/xacro/wam_bhand_table.urdf.xacro b/wam_description/xacro/wam_bhand_table.urdf.xacro
index 45cfe16..432d8e2 100644
--- a/wam_description/xacro/wam_bhand_table.urdf.xacro
+++ b/wam_description/xacro/wam_bhand_table.urdf.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 
-<robot name ="wam" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name ="wam" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-	<property name="M_PI" value="3.1415926535897931" />
+	<xacro:property name="M_PI" value="3.1415926535897931" />
 
 	<link name="world" />
 
diff --git a/wam_description/xacro/wam_bhand_world.urdf.xacro b/wam_description/xacro/wam_bhand_world.urdf.xacro
index 91f0b41..6b07214 100644
--- a/wam_description/xacro/wam_bhand_world.urdf.xacro
+++ b/wam_description/xacro/wam_bhand_world.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<robot name ="wam" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name ="wam" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
 	<link name="world" />
 
diff --git a/wam_description/xacro/wam_j1.urdf.xacro b/wam_description/xacro/wam_j1.urdf.xacro
index bce4033..9f4d80a 100644
--- a/wam_description/xacro/wam_j1.urdf.xacro
+++ b/wam_description/xacro/wam_j1.urdf.xacro
@@ -47,10 +47,17 @@
 		<child link="wam_link_1"/>
 		<origin rpy="${-M_PI/2} 0 0" xyz="0.0 0.0 0.0"/>
 		<axis xyz="0 -1 0"/>
-		<limit effort="30" lower="-2.6" upper="2.6" velocity="2.0"/>
-		<!-- <safety_controller k_velocity="0.5"/> -->
-		<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
-		<dynamics damping="0.9" friction="${3.0/7}"/>
+<!--
+	from Barrett Technology, Inc, WAM Arm User's Manual, 2008, Document:
+	D1001, Version: AH.00
+	
+	lower and upper limits: page 71
+	velocity: page 17
+	friction: page 71
+	effort: cable limit (page 75) x reduction (page 68)
+-->
+		<limit effort="${1.8*42.00}" lower="-2.6" upper="2.6" velocity="2.0"/>
+		<!--dynamics friction="${3.0/7}"/-->
 	</joint>
 
 	<transmission name="j1_transmission">
@@ -60,7 +67,7 @@
 		</joint>
 		<actuator name="j1_motor">
 			<hardwareInterface>EffortJointInterface</hardwareInterface>
-			<mechanicalReduction>1</mechanicalReduction>
+			<mechanicalReduction>42.0</mechanicalReduction>
 		</actuator>
 	</transmission>
 
diff --git a/wam_description/xacro/wam_j2.urdf.xacro b/wam_description/xacro/wam_j2.urdf.xacro
index 484214f..e4d3998 100644
--- a/wam_description/xacro/wam_j2.urdf.xacro
+++ b/wam_description/xacro/wam_j2.urdf.xacro
@@ -45,9 +45,17 @@
 		<child link="wam_link_2"/>
 		<origin rpy="${M_PI/2} 0 0" xyz="0.0 0.0 0.0"/>
 		<axis xyz="0 1 0"/>
-		<limit effort="30" lower="-2.0" upper="2.0" velocity="2.0"/>
-		<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
-		<dynamics damping="0.25" friction="${3.0/7}"/>
+<!--
+	from Barrett Technology, Inc, WAM Arm User's Manual, 2008, Document:
+	D1001, Version: AH.00
+	
+	lower and upper limits: page 71
+	velocity: page 17
+	friction: page 71
+	effort: cable limit (page 75) x reduction (page 68)
+-->
+		<limit effort="${1.8*28.25}" lower="-2.0" upper="2.0" velocity="2.0"/>
+		<!--dynamics friction="${3.0/7}"/-->
 	</joint>
 
 	<transmission name="j2_transmission">
@@ -57,7 +65,7 @@
 		</joint>
 		<actuator name="j2_motor">
 			<hardwareInterface>EffortJointInterface</hardwareInterface>
-			<mechanicalReduction>1</mechanicalReduction>
+			<mechanicalReduction>28.25</mechanicalReduction>
 		</actuator>
 	</transmission>
 
diff --git a/wam_description/xacro/wam_j3.urdf.xacro b/wam_description/xacro/wam_j3.urdf.xacro
index f0e8d53..4b2f2bf 100644
--- a/wam_description/xacro/wam_j3.urdf.xacro
+++ b/wam_description/xacro/wam_j3.urdf.xacro
@@ -48,9 +48,17 @@
 		<child link="wam_link_3_virtual"/>
 		<origin rpy="${-M_PI/2} 0 0" xyz="0.0 0.0 0.55"/>
 		<axis xyz="0 1 0"/>
-		<limit effort="30" lower="-2.8" upper="2.8" velocity="2.0"/>
-		<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
-		<dynamics damping="0.75" friction="${3.0/7}"/>
+<!--
+	from Barrett Technology, Inc, WAM Arm User's Manual, 2008, Document:
+	D1001, Version: AH.00
+	
+	lower and upper limits: page 71
+	velocity: page 17
+	friction: page 71
+	effort: cable limit (page 75) x reduction (page 68)
+-->
+		<limit effort="${1.8*28.25}" lower="-2.8" upper="2.8" velocity="2.0"/>
+		<!--dynamics friction="${3.0/7}"/-->
 	</joint>
 
 	<joint name="wam_joint_3_virtual" type="fixed">
@@ -66,7 +74,7 @@
 		</joint>
 		<actuator name="j3_motor">
 			<hardwareInterface>EffortJointInterface</hardwareInterface>
-			<mechanicalReduction>1</mechanicalReduction>
+			<mechanicalReduction>28.25</mechanicalReduction>
 		</actuator>
 	</transmission>
 
diff --git a/wam_description/xacro/wam_j4.urdf.xacro b/wam_description/xacro/wam_j4.urdf.xacro
index 1f8db90..c8a6387 100644
--- a/wam_description/xacro/wam_j4.urdf.xacro
+++ b/wam_description/xacro/wam_j4.urdf.xacro
@@ -48,9 +48,17 @@
 		<child link="wam_link_4_virtual"/>
 		<origin rpy="${M_PI/2} 0 0" xyz="0.0 0.0 0.0"/>
 		<axis xyz="0 1 0"/>
-		<limit effort="35" lower="-0.9" upper="3.1" velocity="2.0"/>
-		<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
-		<dynamics damping="0.4" friction="${3.0/7}"/>
+<!--
+	from Barrett Technology, Inc, WAM Arm User's Manual, 2008, Document:
+	D1001, Version: AH.00
+	
+	lower and upper limits: page 71
+	velocity: page 17
+	friction: page 71
+	effort: cable limit (page 75) x reduction (page 68)
+-->
+		<limit effort="${1.6*18.00}" lower="-0.9" upper="3.1" velocity="2.0"/>
+		<!--dynamics friction="${3.0/7}"/-->
 	</joint>
 
 	<joint name="wam_joint_4_virtual" type="fixed">
diff --git a/wam_description/xacro/wam_j5.urdf.xacro b/wam_description/xacro/wam_j5.urdf.xacro
index 4ee45de..6e422f8 100644
--- a/wam_description/xacro/wam_j5.urdf.xacro
+++ b/wam_description/xacro/wam_j5.urdf.xacro
@@ -44,9 +44,17 @@
 		<child link="wam_link_5"/>
 		<origin rpy="${-M_PI/2} 0 0" xyz="0.0 0.0 0.3"/>
 		<axis xyz="0 1 0"/>
-		<limit effort="30" lower="-4.8" upper="1.3" velocity="2.0"/>
-		<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
-		<dynamics damping="0.25" friction="${3.0/7}"/>
+<!--
+	from Barrett Technology, Inc, WAM Arm User's Manual, 2008, Document:
+	D1001, Version: AH.00
+	
+	lower and upper limits: page 71
+	velocity: page 17
+	friction: page 71
+	effort: cable limit (page 75) x reduction (page 68)
+-->
+		<limit effort="${0.6*9.48}" lower="-4.76" upper="1.24" velocity="2.0"/>
+		<!--dynamics friction="${3.0/7}"/-->
 	</joint>
 
 	<transmission name="j5_transmission">
@@ -56,7 +64,7 @@
 		</joint>
 		<actuator name="j5_motor">
 			<hardwareInterface>EffortJointInterface</hardwareInterface>
-			<mechanicalReduction>1</mechanicalReduction>
+			<mechanicalReduction>9.48</mechanicalReduction>
 		</actuator>
 	</transmission>
 
diff --git a/wam_description/xacro/wam_j6.urdf.xacro b/wam_description/xacro/wam_j6.urdf.xacro
index f8c9b21..d444c02 100644
--- a/wam_description/xacro/wam_j6.urdf.xacro
+++ b/wam_description/xacro/wam_j6.urdf.xacro
@@ -44,9 +44,17 @@
 		<child link="wam_link_6"/>
 		<origin rpy="${M_PI/2} 0 0" xyz="0.0 0.0 0.0"/>
 		<axis xyz="0 1 0"/>
-		<limit effort="30" lower="-1.6" upper="1.6" velocity="2.0"/>
-		<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
-		<dynamics damping="0.05" friction="0.0"/>
+<!--
+	from Barrett Technology, Inc, WAM Arm User's Manual, 2008, Document:
+	D1001, Version: AH.00
+	
+	lower and upper limits: page 71
+	velocity: page 17
+	friction: page 71
+	effort: cable limit (page 75) x reduction (page 68)
+-->
+		<limit effort="${0.6*9.48}" lower="${-M_PI/2}" upper="${M_PI/2}" velocity="2.0"/>
+		<!--dynamics friction="${3.0/7}"/-->
 	</joint>
 
 	<transmission name="j6_transmission">
@@ -56,7 +64,7 @@
 		</joint>
 		<actuator name="j6_motor">
 			<hardwareInterface>EffortJointInterface</hardwareInterface>
-			<mechanicalReduction>1</mechanicalReduction>
+			<mechanicalReduction>9.48</mechanicalReduction>
 		</actuator>
 	</transmission>
 
diff --git a/wam_description/xacro/wam_j7.urdf.xacro b/wam_description/xacro/wam_j7.urdf.xacro
index b837171..83aa873 100644
--- a/wam_description/xacro/wam_j7.urdf.xacro
+++ b/wam_description/xacro/wam_j7.urdf.xacro
@@ -42,9 +42,17 @@
 		<child link="wam_link_7"/>
 		<origin rpy="0 0 0" xyz="0.0 0.0 0.06"/>
 		<axis xyz="0 0 1"/>
-		<limit effort="30" lower="-2.2" upper="2.2" velocity="2.0"/>
-		<!-- <joint_properties damping="100.0" friction="1000.0" /> -->
-		<dynamics damping="0.05" friction="${3.0/7}"/>
+<!--
+	from Barrett Technology, Inc, WAM Arm User's Manual, 2008, Document:
+	D1001, Version: AH.00
+	
+	lower and upper limits: page 71
+	velocity: page 17
+	friction: page 71
+	effort: cable limit (page 75) x reduction (page 68)
+-->
+		<limit effort="${0.613*14.93}" lower="-3.0" upper="3.0" velocity="2.0"/>
+		<!--dynamics friction="${3.0/7}"/-->
 	</joint>
 
 	<transmission name="j7_transmission">
@@ -54,7 +62,7 @@
 		</joint>
 		<actuator name="j7_motor">
 			<hardwareInterface>EffortJointInterface</hardwareInterface>
-			<mechanicalReduction>1</mechanicalReduction>
+			<mechanicalReduction>14.93</mechanicalReduction>
 		</actuator>
 	</transmission>
 
diff --git a/wam_description/xacro/wam_table.urdf.xacro b/wam_description/xacro/wam_table.urdf.xacro
index a32b6ee..b55d89f 100644
--- a/wam_description/xacro/wam_table.urdf.xacro
+++ b/wam_description/xacro/wam_table.urdf.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 
-<robot name ="wam" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name ="wam" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-	<property name="M_PI" value="3.1415926535897931" />
+	<xacro:property name="M_PI" value="3.1415926535897931" />
 
 	<link name="world" />
 
diff --git a/wam_description/xacro/wam_world.urdf.xacro b/wam_description/xacro/wam_world.urdf.xacro
index 33bc008..de57ace 100644
--- a/wam_description/xacro/wam_world.urdf.xacro
+++ b/wam_description/xacro/wam_world.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<robot name ="wam" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name ="wam" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
 	<link name="world" />