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Kinovarobotics / kinova-movo

Source code of the Kinova MOVO platform
BSD 3-Clause "New" or "Revised" License
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joint limit error #68

Open ruminahui opened 5 years ago

ruminahui commented 5 years ago

Description

The "wrist_spherical_2" joints for the 7DOF-S arms seem to hit their upper limit at 2 radians while in the "urdf file" the limits are given as "+-2.78". Is there an error in the urdf model or is there some internal protection mechanism that stops these joints at a "safer level"?

Version

Branch: devel (although the values are the same for the "kinetic-devel" branch)

Configuration: Movo with both 7DOF-S arms

Steps to reproduce

Try to set the joint value of the "wrist_spherical_2_joint" beyond 2 "radians" and read the resulting joint value after the movement.

Expected behavior

The resulting joint value after commanding the joint to move seems to cap at a value of "2 radians"

yzqin commented 5 years ago

You may have a look at here I am not sure whether this can solve your problem. Comparing with Kinova-ros repo, you will find that the actual joint limit for jaco 2 spherical arm is not the same as the one in movo.urdf. The 0,2,4,6 joint are continuous and the range for other joints are also not the same as kinova-ros. I am also wondering that why MOVO has different joint limits.