arm_ros_conn: allow to preempt

[arm_ros_conn.git] / urdf / arm.urdf

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index f23fe71a04d2b4cf17a77292d446fd2beefd37b9..f20e03e5fd88d25ba310528d23c476f9121ac0fd 100644 (file)
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf
@@ -85,7 +85,7 @@
                <parent link="base_link"/>
                <child link="link1"/>
                <axis xyz="0 0 1"/>
-               <limit effort="1000.0" lower="0.0" upper="5.672320068981571" velocity="1.0"/>
+               <limit effort="1000.0" lower="-5.672320068981571" upper="0.0" velocity="1.0"/>
        </joint>
 
        <joint name="link_1_2_joint" type="continuous">
@@ -101,7 +101,7 @@
                <child link="link3"/>
                <axis xyz="0 0 1"/>
                <origin xyz="0.240 0.0 0.0" rpy="0 0 0"/>
-               <limit effort="1000.0" lower="0.0" upper="3.141592653589793" velocity="1.0"/>
+               <limit effort="1000.0" lower="-3.141592653589793" upper="0.0" velocity="1.0"/>
        </joint>
 
        <joint name="gripper_joint_1" type="continuous">
@@ -109,7 +109,7 @@
                <child link="gripper_pole1"/>
                <axis xyz="1 0 0"/>
                <origin xyz="0 0.135 0.0" rpy="1.57075 0 1.57075"/>
-               <limit effort="1000.0" lower="-0.6981317007977319" upper="7.679448708775051" velocity="1.0"/>
+               <limit effort="1000.0" lower="-7.679448708775051" upper="0.6981317007977319" velocity="1.0"/>
        </joint>
 
        <joint name="gripper_joint_2" type="continuous">