Tweaks to model and doco
<joint name="j3" type="revolute">
<parent link="link3"/>
<child link="link4"/>
- <origin xyz="${a_2} ${a_3} ${d_2}" rpy="0 0 ${-M_PI/2}"/>
+ <origin xyz="${a_2} ${a_3} ${d_2}" rpy="0 0 ${M_PI/2}"/>
<axis xyz="0 0 1"/> <!-- This is descibed in child frame -->
<limit effort="1000.0" lower="${-M_PI/2}" upper="${M_PI/2}" velocity="0"/>
</joint>
