Fix ES200-120 joint S limit (#534)

ros-industrial · Mar 21, 2023 · 63e6242 · 63e6242
1 parent e074519
commit 63e6242
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/motoman_es_support/urdf/es200_120_macro.xacro b/motoman_es_support/urdf/es200_120_macro.xacro
@@ -171,7 +171,7 @@
       <parent link="${prefix}base_link"/>
       <child link="${prefix}link_s"/>
       <axis xyz="0 0 1"/>
-      <limit lower="${radians(-100)}" upper="${radians(180)}" effort="0" velocity="${radians(velocities['joint_1_s'])}"/>
+      <limit lower="${radians(-180)}" upper="${radians(180)}" effort="0" velocity="${radians(velocities['joint_1_s'])}"/>
     </joint>
     <joint name="${prefix}joint_2_l" type="revolute">
       <origin xyz="0.740 0 0" rpy="0 0 0"/>