Merge pull request #14 from NASA-JSC-Robotics/finger-joint-fix

Fix joint limits for Hand-E fingers in moveit

Author: eholum-nasa

clr_moveit_config/config/joint_limits.yaml

@@ -129,7 +129,9 @@ joint_limits:
     has_position_limits: true
     has_velocity_limits: true
     max_effort: 130.0
-    max_position:  0.025
-    max_velocity:  0.15
+    # This is greater than the limits in the URDF but within hardware limits.
+    # Increased to support rounding errors in planning.
+    max_position: 0.029
+    max_velocity: 0.15
     min_position: 0.0
     max_acceleration: 1.0