From bc8a192f316429c3637846ae07db2e7872b5ac80 Mon Sep 17 00:00:00 2001
From: hello-jesus <141784078+hello-jesus@users.noreply.github.com>
Date: Wed, 9 Aug 2023 15:07:17 -0700
Subject: [PATCH] Update joint limits

The joint limits are updated now, I found them in the stretch_main.xacro and stretch_dex_wrist.xacro from the stretch_description/urdf file
---
 ros1/follow_joint_trajectory.md | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/ros1/follow_joint_trajectory.md b/ros1/follow_joint_trajectory.md
index 3a5f6b9..0e32373 100644
--- a/ros1/follow_joint_trajectory.md
+++ b/ros1/follow_joint_trajectory.md
@@ -293,12 +293,12 @@ You can also actuate a single joint for the Stretch. Below is the list of joints
 
 ```{.bash .no-copy}
 ############################# JOINT LIMITS #############################
-joint_lift:      lower_limit =  0.15,  upper_limit =  1.10  # in meters
+joint_lift:      lower_limit =  0.00,  upper_limit =  1.10  # in meters
 wrist_extension: lower_limit =  0.00,  upper_limit =  0.50  # in meters
 joint_wrist_yaw: lower_limit = -1.75,  upper_limit =  4.00  # in radians
-joint_head_pan:  lower_limit = -2.80,  upper_limit =  2.90  # in radians
-joint_head_tilt: lower_limit = -1.60,  upper_limit =  0.40  # in radians
-joint_gripper_finger_left:  lower_limit = -0.35,  upper_limit =  0.165  # in radians
+joint_head_pan:  lower_limit = -3.90,  upper_limit =  1.50  # in radians
+joint_head_tilt: lower_limit = -1.53,  upper_limit =  0.79  # in radians
+joint_gripper_finger_left:  lower_limit = -0.6,  upper_limit =  0.6  # in radians
 
 # INCLUDED JOINTS IN POSITION MODE
 translate_mobile_base: No lower or upper limit. Defined by a step size in meters
@@ -410,4 +410,4 @@ trajectory_goal.trajectory.header.stamp = rospy.Time(0.0)
 trajectory_goal.trajectory.header.frame_id = 'base_link'
 ```
 
-Set `trajectory_goal` as a `FollowJointTrajectoryGoal` and define the joint names as a list. Then `trajectory_goal.trajectory.points` set by your list of points. Specify the coordinate frame that we want (*base_link*) and set the time to be now.
\ No newline at end of file
+Set `trajectory_goal` as a `FollowJointTrajectoryGoal` and define the joint names as a list. Then `trajectory_goal.trajectory.points` set by your list of points. Specify the coordinate frame that we want (*base_link*) and set the time to be now.