fix limits

hands/mano_hand/mano_left.urdf

@@ -353,105 +353,105 @@
     <origin xyz="-0.08809724664019486 0.0052003570684035555 0.02068598903709729" rpy="-0.0 -1.5656545707276812 3.0830557190223242" />
   </joint>
   <joint name="j_index1x" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="-0.17453292519943295" upper="1.5707963267948966" />
+    <limit effort="100.0" velocity="100.0" lower="-1.5707963267948966" upper="0.17453292519943295" />
     <parent link="index1y" />
     <child link="index1x" />
     <axis xyz="1.0 -0.0 0.0" />
     <origin xyz="0.0 -0.0 0.0" rpy="-0.0 -0.0 -0.0" />
   </joint>
   <joint name="j_index2" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="0.0" upper="1.7453292519943295" />
+    <limit effort="100.0" velocity="100.0" lower="-1.7453292519943295" upper="0.0" />
     <parent link="index1x" />
     <child link="index2" />
     <axis xyz="1.0 -0.0 0.0" />
     <origin xyz="0.0023835711672753985 0.005914318759078097 -0.03237654210665609" rpy="-5.985723906621881e-19 -6.835640390420038e-19 6.486977305262269e-21" />
   </joint>
   <joint name="j_index3" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="0.0" upper="1.7453292519943295" />
+    <limit effort="100.0" velocity="100.0" lower="-1.7453292519943295" upper="0.0" />
     <parent link="index2" />
     <child link="index3" />
     <axis xyz="1.0 -0.0 0.0" />
     <origin xyz="-2.1969386803155346e-21 -1.0054815357582629e-19 -0.022194219361846432" rpy="-5.985723906621881e-19 -6.835640390420038e-19 6.486977305262269e-21" />
   </joint>
   <joint name="j_middle1y" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="-0.3490658503988659" upper="0.5235987755982988" />
+    <limit effort="100.0" velocity="100.0" lower="-0.5235987755982988" upper="0.3490658503988659" />
     <parent link="palm" />
     <child link="middle1y" />
     <axis xyz="0.0 -1.0 0.0" />
     <origin xyz="-0.09466044139183748 0.0014789633509431728 -0.0033575408143170205" rpy="0.10838501782646781 -1.399488824140411 2.9769988584801235" />
   </joint>
   <joint name="j_middle1x" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="-0.17453292519943295" upper="1.5707963267948966" />
+    <limit effort="100.0" velocity="100.0" lower="-1.5707963267948966" upper="0.17453292519943295" />
     <parent link="middle1y" />
     <child link="middle1x" />
     <axis xyz="1.0 -0.0 0.0" />
     <origin xyz="0.0 -0.0 0.0" rpy="-0.0 -0.0 -0.0" />
   </joint>
   <joint name="j_middle2" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="0.0" upper="1.7453292519943295" />
+    <limit effort="100.0" velocity="100.0" lower="-1.7453292519943295" upper="0.0" />
     <parent link="middle1x" />
     <child link="middle2" />
     <axis xyz="1.0 -0.0 0.0" />
     <origin xyz="-0.0003207158897834246 0.003555264565700651 -0.031533781277300055" rpy="7.187502047679508e-19 1.1776617696394585e-17 1.1633025402259818e-18" />
   </joint>
   <joint name="j_middle3" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="0.0" upper="1.7453292519943295" />
+    <limit effort="100.0" velocity="100.0" lower="-1.7453292519943295" upper="0.0" />
     <parent link="middle2" />
     <child link="middle3" />
     <axis xyz="1.0 -0.0 0.0" />
     <origin xyz="-5.609489609703704e-20 7.277896970840872e-20 -0.023275512883098835" rpy="7.187502047679508e-19 1.1776617696394585e-17 1.1633025402259818e-18" />
   </joint>
   <joint name="j_pinky1y" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="-0.3490658503988659" upper="0.6981317007977318" />
+    <limit effort="100.0" velocity="100.0" lower="-0.6981317007977318" upper="0.3490658503988659" />
     <parent link="palm" />
     <child link="pinky1y" />
     <axis xyz="0.0 -1.0 0.0" />
     <origin xyz="-0.0687869720598841 0.00994032882044861 -0.04320934200328496" rpy="-0.4325014617037457 -0.9265283135189503 -2.661490603166245" />
   </joint>
   <joint name="j_pinky1x" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="-0.17453292519943295" upper="1.5707963267948966" />
+    <limit effort="100.0" velocity="100.0" lower="-1.5707963267948966" upper="0.17453292519943295" />
     <parent link="pinky1y" />
     <child link="pinky1x" />
     <axis xyz="1.0 -0.0 0.0" />
     <origin xyz="0.0 -0.0 0.0" rpy="-0.0 -0.0 -0.0" />
   </joint>
   <joint name="j_pinky2" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="0.0" upper="1.7453292519943295" />
+    <limit effort="100.0" velocity="100.0" lower="-1.7453292519943295" upper="0.0" />
     <parent link="pinky1x" />
     <child link="pinky2" />
     <axis xyz="1.0 -0.0 0.0" />
     <origin xyz="-0.0009123243154268479 0.0011282837702486126 -0.021062001859487044" rpy="2.484200750483751e-17 -7.081513656750915e-17 2.6504116429611938e-17" />
   </joint>
   <joint name="j_pinky3" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="0.0" upper="1.7453292519943295" />
+    <limit effort="100.0" velocity="100.0" lower="-1.7453292519943295" upper="0.0" />
     <parent link="pinky2" />
     <child link="pinky3" />
     <axis xyz="1.0 -0.0 0.0" />
     <origin xyz="-1.8952144180532274e-18 -2.2152413969868993e-19 -0.01894688789602988" rpy="2.484200750483751e-17 -7.081513656750915e-17 2.6504116429611938e-17" />
   </joint>
   <joint name="j_ring1y" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="-0.3490658503988659" upper="0.5235987755982988" />
+    <limit effort="100.0" velocity="100.0" lower="-0.5235987755982988" upper="0.3490658503988659" />
     <parent link="palm" />
     <child link="ring1y" />
     <axis xyz="0.0 -1.0 0.0" />
     <origin xyz="-0.08173555442881024 0.003957421152865242 -0.026673193033088197" rpy="-0.3794310720777505 -1.2328253203111788 -2.8133517240851353" />
   </joint>
   <joint name="j_ring1x" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="-0.17453292519943295" upper="1.5707963267948966" />
+    <limit effort="100.0" velocity="100.0" lower="-1.5707963267948966" upper="0.17453292519943295" />
     <parent link="ring1y" />
     <child link="ring1x" />
     <axis xyz="1.0 -0.0 0.0" />
     <origin xyz="0.0 -0.0 0.0" rpy="-0.0 -0.0 -0.0" />
   </joint>
   <joint name="j_ring2" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="0.0" upper="1.7453292519943295" />
+    <limit effort="100.0" velocity="100.0" lower="-1.7453292519943295" upper="0.0" />
     <parent link="ring1x" />
     <child link="ring2" />
     <axis xyz="1.0 -0.0 0.0" />
     <origin xyz="0.00429786987999866 0.003563675567715413 -0.028298309378744307" rpy="6.026737690030247e-18 -3.508963367964836e-17 1.7519875374215658e-17" />
   </joint>
   <joint name="j_ring3" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="0.0" upper="1.7453292519943295" />
+    <limit effort="100.0" velocity="100.0" lower="-1.7453292519943295" upper="0.0" />
     <parent link="ring2" />
     <child link="ring3" />
     <axis xyz="1.0 -0.0 0.0" />
@@ -472,14 +472,14 @@
     <origin xyz="0.0 -0.0 0.0" rpy="-0.0 -0.0 -0.0" />
   </joint>
   <joint name="j_thumb2" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="0.0" upper="1.7453292519943295" />
+    <limit effort="100.0" velocity="100.0" lower="-1.7453292519943295" upper="0.0" />
     <parent link="thumb1z" />
     <child link="thumb2" />
     <axis xyz="1.0 -0.0 0.0" />
     <origin xyz="0.02526494873869172 0.017595730026252792 1.0660017461924156e-19" rpy="1.1705944339598562 0.7898458524685564 -0.9959904350807831" />
   </joint>
   <joint name="j_thumb3" type="revolute">
-    <limit effort="100.0" velocity="100.0" lower="0.0" upper="1.7453292519943295" />
+    <limit effort="100.0" velocity="100.0" lower="-1.7453292519943295" upper="0.0" />
     <parent link="thumb2" />
     <child link="thumb3" />
     <axis xyz="1.0 -0.0 0.0" />