From 20e38455b0fac0901ffa55229c9793398bb8af11 Mon Sep 17 00:00:00 2001
From: Francois Keith <keith@lirmm.fr>
Date: Thu, 14 Feb 2013 16:51:41 +0100
Subject: [PATCH] Correct the way the Thumb bend.

---
 romeo_description/urdf/romeo.urdf | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/romeo_description/urdf/romeo.urdf b/romeo_description/urdf/romeo.urdf
index a62e6aa..0ab9eb4 100644
--- a/romeo_description/urdf/romeo.urdf
+++ b/romeo_description/urdf/romeo.urdf
@@ -1383,8 +1383,8 @@
     <axis xyz="-0.573576 0.819152 1.05097e-07"/>
     <parent link="l_wrist"/>
     <child link="LThumb1Link"/>
-    <limit effort="30" lower="0" upper="1.06465082555556" velocity="0" />
-    <mimic joint="LFinger11" multiplier="1" offset="0"/>
+    <limit effort="30" lower="-1.06465082555556" upper="0" velocity="0" />
+    <mimic joint="LFinger11" multiplier="-1" offset="0"/>
   </joint>
 
   <joint name="LThumb2" type="revolute">
@@ -1490,8 +1490,8 @@
     <axis xyz="0.573576 0.819152 1.05097e-07"/>
     <parent link="r_wrist"/>
     <child link="RThumb1Link"/>
-    <limit effort="30" lower="0" upper="1.06465082555556" velocity="0" />
-    <mimic joint="RFinger11" multiplier="1" offset="0"/>
+    <limit effort="30" lower="-1.06465082555556" upper="0" velocity="0" />
+    <mimic joint="RFinger11" multiplier="-1" offset="0"/>
   </joint>
 
   <joint name="RThumb2" type="revolute">