The panda urdf has different joint limits than the franka_description, and robosuite values

[jstmn]

Hi,

I've noticed that the joint limits are different than those in the franka_description and robosuite packages.

1. From http://wiki.ros.org/franka_description 'robots/panda/joint_limits.yaml':

joint1:
    -2.8973 2.8973
joint2:
    -1.7628 1.7628
joint3:
    -2.8973 2.8973
joint4:
    -3.0718 -0.0698
joint5:
    -2.8973 2.8973
joint6:
    -0.0175 3.7525
joint7:
    -2.8973 2.8973
# sum joint range: -33.476

2. From robosuite https://github.com/ARISE-Initiative/robosuite/blob/master/robosuite/models/assets/bullet_data/panda_description/

panda_joint1:
    -2.8973 2.8973
panda_joint2:
    -1.7628 1.7628
panda_joint3:
    -2.8973 2.8973
panda_joint4:
    -3.0718 -0.0698
panda_joint5:
    -2.8973 2.8973
panda_joint6:
    -0.0175 3.7525
panda_joint7:
    -2.8973 2.8973
# sum joint range: -33.476

Lastly, from this package, the range for every joint is larger than for the frank_description:

3. From https://github.com/StanfordASL/PandaRobot.jl/tree/master/deps/Panda

panda_joint1:
    -2.9671 2.9671
panda_joint2:
    -1.8326 1.8326
panda_joint3:
    -2.9671 2.9671
panda_joint4:
    -3.1416 0.0
panda_joint5:
    -2.9671 2.9671
panda_joint6:
    -0.0873 3.8223
panda_joint7:
    -2.9671 2.9671

# sum joint range: -34.4532

Any reason this is the case?

Thanks, Jeremy