Move initial pose away from joint limits - Githubissues

roboticslab-uc3m / amor-openrave-models

OpenRAVE models for AMOR robot.

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Move initial pose away from joint limits #1

Open PeterBowman opened 5 years ago

PeterBowman commented 5 years ago

As it is now, joint q3 (which follows q2.5) starts next to its joint limit position both in the STL models (bad, might entail rendering the binaries again) and the default OR environment (can be sorted out). This may lead to issues with the newly added limit checks in our general-purpose cartesian controller: https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/161#issuecomment-428137252. The AmorCartesianControl device is not affected, but simulation involves BasicCartesianControl instead.

jgvictores commented 4 years ago

In OpenRAVE XMLs, thsi can be done:

At joint level via <initial> (http://openrave.programmingvision.com/wiki/index.php/Format:XML#Setting_joint_values_for_initial_state)
At robot level via <jointvalues> (http://openrave.programmingvision.com/wiki/index.php/Format:XML#Setting_Robot_Joint_Values)

Some comments:

AFAIK must be in radians!
At least via <jointvalues>, you will get a warning if out of limits on init, then joint values are applied, and if wrong, you'll get a double warning. This is, even if within limits, you'll always get the first warning.