use revolut instead of continous joints

diff --git a/urdf/arm.urdf b/urdf/arm.urdf
index 6907f349bd830ceb9c06ed170315276606b01f30..b9c2829f15ba15ad5c6829cada37cc29f7709000 100644 (file)
--- a/urdf/arm.urdf
+++ b/urdf/arm.urdf
@@ -107,7 +107,7 @@
                <origin xyz="0 0 0.00375"/>
        </joint>
 
-       <joint name="arm_base_to_link1" type="continuous">
+       <joint name="arm_base_to_link1" type="revolute">
                <parent link="arm_base"/>
                <child link="link1"/>
                <axis xyz="0 0 1"/>
@@ -115,7 +115,7 @@
                <limit effort="1000.0" lower="-5.672320068981571" upper="0.0" velocity="1.0"/>
        </joint>
 
-       <joint name="link_1_2_joint" type="continuous">
+       <joint name="link_1_2_joint" type="revolute">
                <parent link="link1"/>
                <child link="link2"/>
                <axis xyz="0 0 1"/>
@@ -123,7 +123,7 @@
                <limit effort="1000.0" lower="0.15045941827537324" upper="3.6110260386089577" velocity="1.0"/>
        </joint>
 
-       <joint name="link_2_3_joint" type="continuous">
+       <joint name="link_2_3_joint" type="revolute">
                <parent link="link2"/>
                <child link="link3"/>
                <axis xyz="0 0 1"/>
@@ -131,15 +131,15 @@
                <limit effort="1000.0" lower="-3.141592653589793" upper="0.0" velocity="1.0"/>
        </joint>
 
-       <joint name="link_3_4_joint" type="continuous">
+       <joint name="link_3_4_joint" type="revolute">
                <parent link="link3"/>
                <child link="link4"/>
                <axis xyz="1 0 0"/>
                <origin xyz="0 0.135 0.0" rpy="1.57075 0 1.57075"/>
-               <limit effort="1000.0" lower="-7.679448708775051" upper="0.6981317007977319" velocity="1.0"/>
+               <limit effort="1000.0" lower="-5.4978" upper="-0.15708" velocity="1.0"/>
        </joint>
 
-       <joint name="link_4_5_joint" type="continuous">
+       <joint name="link_4_5_joint" type="revolute">
                <parent link="link4"/>
                <child link="link5"/>
                <axis xyz="0 1 0"/>