From d3d0e2bad632613005ca5e6217db05fc96203766 Mon Sep 17 00:00:00 2001
From: Atsushi Kuwagata <kuwagata@rt-net.jp>
Date: Thu, 9 Jan 2025 18:10:55 +0900
Subject: [PATCH] =?UTF-8?q?joint=5F4=E3=81=AE=E5=8F=AF=E5=8B=95=E7=AF=84?=
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---
 urdf/crane_x7.urdf.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/urdf/crane_x7.urdf.xacro b/urdf/crane_x7.urdf.xacro
index e86cbd1..450224d 100644
--- a/urdf/crane_x7.urdf.xacro
+++ b/urdf/crane_x7.urdf.xacro
@@ -96,7 +96,7 @@
   <xacro:property name="JOINT_3_LOWER_LIMIT" value="${radians(-157)}"/>
   <xacro:property name="JOINT_3_UPPER_LIMIT" value="${radians(157)}"/>
   <!-- JOINT_4はサーボ可動範囲を超えやすいため、LOWER_LIMITをサーボのリミット値より小さくする -->
-  <xacro:property name="JOINT_4_LOWER_LIMIT" value="${radians(-159)}"/>
+  <xacro:property name="JOINT_4_LOWER_LIMIT" value="${radians(-161)}"/>
   <!-- Gazeboの挙動がlimit付近で不安定なためUPPER_LIMITをサーボのリミット値より大きくする -->
   <!-- 参照: https://github.com/rt-net/crane_x7_ros/pull/162 -->
   <xacro:property name="JOINT_4_UPPER_LIMIT" value="${radians(0.001)}"/>