j2n6s300.xacro and spec sheet does not match the real robot specs

[yuzhongchun17]

Description

The spec sheet and the j2n6s300.xacro for the Jaco Gen2 6DoF (non-spherical) specify that joint 5 is a continuous joint with a joint limit ranging from -2π to 2π. However, when testing with the real robot, joint 5 is actually a revolute joint with a limit from 65 to 295 degree, which is the same as the 6DoF spherical version. spec sheet

I also created a fix for this issue #443.

    <xacro:property name="joint_5" value="joint_5" />
    <xacro:property name="joint_5_type" value="continuous" />
    <xacro:property name="joint_5_axis_xyz" value="0 0 1" />
    <xacro:property name="joint_5_origin_xyz" value="0 -0.03703 -0.06414" />
    <xacro:property name="joint_5_origin_rpy" value="${J_PI/3} 0 ${J_PI}" />
    <xacro:property name="joint_5_lower_limit" value="${-2*J_PI}" />
    <xacro:property name="joint_5_upper_limit" value="${2*J_PI}" />
    <xacro:property name="joint_5_velocity_limit" value="${48*J_PI/180}" />
    <xacro:property name="joint_5_torque_limit" value="20" />

    <xacro:property name="joint_5" value="joint_5" />
    <xacro:property name="joint_5_type" value="revolute" />
    <xacro:property name="joint_5_axis_xyz" value="0 0 1" />
    <xacro:property name="joint_5_origin_xyz" value="0 -0.03703 -0.06414" />
    <xacro:property name="joint_5_origin_rpy" value="${J_PI/3} 0 ${J_PI}" />
    <xacro:property name="joint_5_lower_limit" value="${65/180*J_PI}" />
    <xacro:property name="joint_5_upper_limit" value="${295/180*J_PI}" />
    <xacro:property name="joint_5_velocity_limit" value="${48*J_PI/180}" />
    <xacro:property name="joint_5_torque_limit" value="20" />

Version

ROS distribution : Noetic

Branch and commit you are using : noetic-devel