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ros-industrial / kuka_experimental

Experimental packages for KUKA manipulators within ROS-Industrial (http://wiki.ros.org/kuka_experimental)
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Incorrect values for joint limits in kr10r1100sixx_macro.xacro file. #185

Closed 99arp closed 3 years ago

99arp commented 3 years ago

It appears to me that the velocity Limits for the joints are incorrect.

Here is the joint limits table for KUKA KR 10 Robot. image

Here is the joint limits table for KUKA KR 6 Robot. image

It appears to me that the data for KR 6 Robot was copy-pasted in KUKA KR 10 Robot file. Link where I found this information.

I am unsure if this is an issue worth fixing but I could offer to fix this if required.

gavanderhoorn commented 3 years ago

Looks like it's indeed not correct.

This was contributed in #64, and luckily we have a reference to the documentation used: KUKA Roboter GmbH - KR AGILUS sixx - With W and C Variants Specification version Spez KR AGILUS sixx V12, 26.03.2015.

That would appear to be the same file you link to.

I am unsure if this is an issue worth fixing

how would incorrect joint limits not be worth fixing?

but I could offer to fix this if required.

well, it would certainly be appreciated, so if you could, please do.

And please use the ${radians(..)} function as supported by xacro for some time now instead of manually converting degrees to radians as is currently done in that file.