From 0705d2f03957ed1e85b5b17cc36028dab9915a80 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 2 Oct 2019 01:02:59 -0300
Subject: [PATCH] Fix joint 3 and 5 rotation direction.

---
 wam_description/xacro/wam_j3.urdf.xacro | 2 +-
 wam_description/xacro/wam_j5.urdf.xacro | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/wam_description/xacro/wam_j3.urdf.xacro b/wam_description/xacro/wam_j3.urdf.xacro
index 4b2f2bf..04462f4 100644
--- 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 6e422f8..9eddbdd 100644
--- 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
-- 
2.12.0