Open squizz617 opened 2 years ago
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
@squizz617, do you plan to submit a PR to fix this? If not, I'm tempted to close this.
Hi @rhaschke, I've opened #118 for this. Thanks!
BTW,
this is not the official URDF of the Panda robot, but one that is used internally in MoveIt CI.
this URDF is being used in the tutorials, where it mentions that "the Franka Emika Panda robot is used". So I assumed this file was the official one.
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):
[-166:166]
deg[-101:101]
deg[-176:-4]
deg[-1:215]
degDefined soft lower and upper limits:
[-2.8973:2.8973]
rad =[-166.003062:166.003062]
deg[-1.7628:1.7628]
rad =[-101.001:101.001]
deg[-3.0718:0.0175]
rad =[-176.0011:1.00267]
deg[-0.0175:3.7525]
rad =[-1.00267:215.0024]
degCould you consider fixing these? Thank you.