From c1016d6657f8578d8e2df8b335e58f547b775f30 Mon Sep 17 00:00:00 2001
From: Thomason Zhou <thomason.zhou@uwaterloo.ca>
Date: Wed, 5 Mar 2025 12:38:01 +0900
Subject: [PATCH] Update rev7 joint type for urdf (continuous -> revolute)

---
 openarm_grip_description/urdf/openarm_grip.urdf  | 3 ++-
 openarm_grip_description/urdf/openarm_grip.xacro | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/openarm_grip_description/urdf/openarm_grip.urdf b/openarm_grip_description/urdf/openarm_grip.urdf
index b82bbf6..35286ad 100644
--- a/openarm_grip_description/urdf/openarm_grip.urdf
+++ b/openarm_grip_description/urdf/openarm_grip.urdf
@@ -415,11 +415,12 @@
     <limit acceleration="0.5" effort="100" lower="-1.570796" upper="1.570796" velocity="1.0"/>
     <dynamics damping="1.0" friction="1.0"/>
   </joint>
-  <joint name="rev7" type="continuous">
+  <joint name="rev7" type="revolute">
     <origin rpy="0 0 0" xyz="-0.0355 0.00303 0.01515"/>
     <parent link="J7_v1_1"/>
     <child link="grip_attach_1"/>
     <axis xyz="0.0 0.196078 0.980588"/>
+    <limit acceleration="0.5" effort="100" lower="-1.5" upper="1.5" velocity="1.0"/>
     <dynamics damping="1.0" friction="1.0"/>
   </joint>
   <joint name="slider_left" type="prismatic">
diff --git a/openarm_grip_description/urdf/openarm_grip.xacro b/openarm_grip_description/urdf/openarm_grip.xacro
index ada99e8..d419ebd 100644
--- a/openarm_grip_description/urdf/openarm_grip.xacro
+++ b/openarm_grip_description/urdf/openarm_grip.xacro
@@ -276,11 +276,12 @@
   <dynamics damping="1.0" friction="1.0"/>
 </joint>
 
-<joint name="rev7" type="continuous">
+<joint name="rev7" type="revolute">
   <origin xyz="-0.0355 0.00303 0.01515" rpy="0 0 0"/>
   <parent link="J7_v1_1"/>
   <child link="grip_attach_1"/>
   <axis xyz="0.0 0.196078 0.980588"/>
+  <limit upper="0.5" lower="-0.5" effort="100" velocity="1.0" acceleration="0.5"/>
   <dynamics damping="1.0" friction="1.0"/>
 </joint>