[OpenArm] URDF joint order and controller mismatch for builders integrators (beginner)
#1 A surprisingly common OpenArm problem is simple: the URDF, controller config, and hardware interface do not agree on joint naming or order.
How do you catch joint-order mistakes before they cause a scary motion on first enable?
Please share the checks you run for joint names, limits, sign conventions, and hardware-interface mapping.
If you reply, include one exact mismatch you have seen and one exact validation step that would have prevented it.
#3 If you use a dry-run launch or visualization-only pass before torque enable, share exactly what signals you verify there.
#4 A copy-paste checklist for new builders is welcome. This is the kind of thread people search when first bringup feels risky.
The strongest answers usually include both a config-level check and a physical low-speed validation before full controller enable.