Need to lock joint limits when joint is locked
apric0ts opened this issue · 1 comments
apric0ts commented
Make sure that the joints will not move the components they are attached to if it is locked, not sure if problem, will test. If this is a problem:
if joint.isLocked:
joint_dict['upper_limit'] = joint_angle
joint_dict['lower_limit'] = joint_angle
or something along these lines
apric0ts commented
Also make sure URDF has limits on joint when not locked