Fix elbow joint limits (#268)

ros-industrial · Sep 12, 2017 · eb12019 · eb12019
1 parent 68d76b2
commit eb12019
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
@@ -162,7 +162,7 @@
       <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
-        <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
+        <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.15"/>

diff --git a/ur_description/urdf/ur3.urdf.xacro b/ur_description/urdf/ur3.urdf.xacro
@@ -155,7 +155,7 @@
       <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
-        <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
+        <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>

diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
@@ -171,7 +171,7 @@
       <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
-        <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
+        <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
       </xacro:unless>
       <xacro:if value="${joint_limited}">
         <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>