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Joint Limit in URDF Limiting Robot Movement

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You can review your joint limits in the Toolkit if you press the "FK" button:


Even though in reality all the joints of the UR5 are [-2*pi, 2*pi], they are significantly limited here, which affects the ability of the IK solver.  If you go to urdf/parameters.urdf.xacro, you can see where they are set:



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