From c5f8cfb248569bf09045738eac613dc6891ae3c2 Mon Sep 17 00:00:00 2001
From: Thomason Zhou <thomason.zhou@uwaterloo.ca>
Date: Tue, 11 Mar 2025 12:07:52 +0900
Subject: [PATCH] Update rom of gripper to 4.51cm

---
 openarm_two_arms/urdf/openarm.xacro         | 4 ++--
 openarm_two_arms/urdf/openarm_two_arms.urdf | 8 ++++----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/openarm_two_arms/urdf/openarm.xacro b/openarm_two_arms/urdf/openarm.xacro
index b20e019..e16360a 100644
--- a/openarm_two_arms/urdf/openarm.xacro
+++ b/openarm_two_arms/urdf/openarm.xacro
@@ -253,14 +253,14 @@
             <child link="${prefix}link_left_jaw"/>
             <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
             <axis xyz="0 0 1"/>
-            <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
+            <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
         </joint>
         <joint name="${prefix}right_pris2" type="prismatic">
             <parent link="${prefix}link8"/>
             <child link="${prefix}link_right_jaw"/>
             <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
             <axis xyz="0 0 1"/>
-            <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
+            <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
             <mimic joint="${prefix}left_pris1" multiplier="-1.0" offset="0.0"/>
         </joint>
     </xacro:macro>
diff --git a/openarm_two_arms/urdf/openarm_two_arms.urdf b/openarm_two_arms/urdf/openarm_two_arms.urdf
index 798e2e8..b2d0f41 100644
--- a/openarm_two_arms/urdf/openarm_two_arms.urdf
+++ b/openarm_two_arms/urdf/openarm_two_arms.urdf
@@ -272,14 +272,14 @@
     <child link="right_link_left_jaw"/>
     <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
     <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
+    <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
   </joint>
   <joint name="right_right_pris2" type="prismatic">
     <parent link="right_link8"/>
     <child link="right_link_right_jaw"/>
     <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
     <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
+    <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
     <mimic joint="right_left_pris1" multiplier="-1.0" offset="0.0"/>
   </joint>
   <link name="left_link1">
@@ -526,14 +526,14 @@
     <child link="left_link_left_jaw"/>
     <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
     <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
+    <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
   </joint>
   <joint name="left_right_pris2" type="prismatic">
     <parent link="left_link8"/>
     <child link="left_link_right_jaw"/>
     <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
     <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
+    <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
     <mimic joint="left_left_pris1" multiplier="-1.0" offset="0.0"/>
   </joint>
   <joint name="dummy_joint" type="fixed">