A3 joint limit violation in transport position

PilzDE / pilz_robots

PILZ robot manipulator module PRBT 6 in ROS

https://wiki.ros.org/pilz_robots

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A3 joint limit violation in transport position #82

Closed CloudYin closed 5 years ago

CloudYin commented 5 years ago

Hi gentlemen,

when I set the robot to the transport position it always shows a joint violation error. I made a test for each axis and find the axis A3 cannot set to -135 degree. However -134 is ok. Here is the code I write:

https://github.com/yzhyff/prbt_training_cell/blob/1fccbda495a618bdb712919f4f61d94ff2c2f297/prbt_training_cell/scripts/transport.py#L1

martiniil commented 5 years ago

@CloudYin Thank you for reporting this issue. We will tackle it in the next days.