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Have you updated the limits in the ur5_moveit_config/config/joint_limits.yaml? Those take precedence over what is in the URDF.

Have you updated the limits in the ur5_moveit_config/config/joint_limits.yaml? Those take precedence over what is in the URDF.

Edit: also: which "joint limits which are set in the launch file" are you referring to?

Have you updated the limits in the ~~ur5_moveit_config/config/joint_limits.yaml~~ur10_moveit_config/config/joint_limits.yaml? Those take precedence over what is in the URDF.

Edit: also: which "joint limits which are set in the launch file" are you referring to?

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