diff --git a/robots/panda_arm.xacro b/robots/panda_arm.xacro index b44b230a6f194588e914f541fe2f311e7cbbd1d3..7ad94ecf176fba762602486981d5a6ac33eef789 100644 --- a/robots/panda_arm.xacro +++ b/robots/panda_arm.xacro @@ -66,7 +66,7 @@ <parent link="${arm_id}_link0"/> <child link="${arm_id}_link1"/> <axis xyz="0 0 1"/> - <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/> + <limit effort="87" lower="-2.7973" upper="2.7973" velocity="2.1750"/> </joint> <link name="${arm_id}_link2"> <visual> @@ -99,7 +99,7 @@ <parent link="${arm_id}_link1"/> <child link="${arm_id}_link2"/> <axis xyz="0 0 1"/> - <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/> + <limit effort="87" lower="-1.6628" upper="1.6628" velocity="2.1750"/> </joint> <link name="${arm_id}_link3"> <visual> @@ -132,7 +132,7 @@ <parent link="${arm_id}_link2"/> <child link="${arm_id}_link3"/> <axis xyz="0 0 1"/> - <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/> + <limit effort="87" lower="-2.6973" upper="2.6973" velocity="2.1750"/> </joint> <link name="${arm_id}_link4"> <visual> @@ -165,7 +165,7 @@ <parent link="${arm_id}_link3"/> <child link="${arm_id}_link4"/> <axis xyz="0 0 1"/> - <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/> + <limit effort="87" lower="-2.9718" upper="0.0000" velocity="2.1750"/> </joint> <link name="${arm_id}_link5"> <visual> @@ -217,7 +217,7 @@ <parent link="${arm_id}_link4"/> <child link="${arm_id}_link5"/> <axis xyz="0 0 1"/> - <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/> + <limit effort="12" lower="-2.7973" upper="2.7973" velocity="2.6100"/> </joint> <link name="${arm_id}_link6"> <visual> @@ -250,7 +250,7 @@ <parent link="${arm_id}_link5"/> <child link="${arm_id}_link6"/> <axis xyz="0 0 1"/> - <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/> + <limit effort="12" lower="0.0000" upper="3.6525" velocity="2.6100"/> </joint> <link name="${arm_id}_link7"> <visual> @@ -283,7 +283,7 @@ <parent link="${arm_id}_link6"/> <child link="${arm_id}_link7"/> <axis xyz="0 0 1"/> - <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/> + <limit effort="12" lower="-2.7973" upper="2.7973" velocity="2.6100"/> </joint> <link name="${arm_id}_link8"> <collision>