[panda] joint limits do not match the specification
squizz617 opened this issue · 3 comments
squizz617 commented
Hi.
The joint limits defined in the URDF of the panda manipulator are either (1) different from the specification or (2) slightly exceed the specified min/max.
Expected (as per the datasheet provided by the manufacturer):
- joints 1, 3, 5, 7
[-166:166]deg
- joint 2
[-101:101]deg
- joint 4
[-176:-4]deg
- joint 6
[-1:215]deg
Defined soft lower and upper limits:
- joints 1, 3, 5, 7
[-2.8973:2.8973]rad =[-166.003062:166.003062]deg- exceeds the limit by 0.003 degrees
- joint 2
[-1.7628:1.7628]rad =[-101.001:101.001]deg- exceeds the limit by 0.001 degrees
- joint 4
[-3.0718:0.0175]rad =[-176.0011:1.00267]deg- upper limit is WRONG; difference is 5 degrees
- lower limit exceeds the spec by 0.001 degrees
- joint 6
[-0.0175:3.7525]rad =[-1.00267:215.0024]deg- exceeds the limit by 0.002 degrees
Could you consider fixing these? Thank you.
rhaschke commented
Thanks for the hint! Could you please file a pull request to fix those?
Note that this is not the official URDF of the Panda robot, but one that is used internally in MoveIt CI.
For the official version, see https://github.com/frankaemika/franka_ros/tree/noetic-devel/franka_description
rhaschke commented
@squizz617, do you plan to submit a PR to fix this? If not, I'm tempted to close this.
squizz617 commented