Why are the joint position limits of the elbow joint in each arm description set to +-pi even if the joint_limited parameter is false. Should not they be defined as +-2pi regarding the official declarations(https://www.universal-robots.com/media/50880/ur10_bz.pdf) or is that a sort of "trick" to make it easier for moveit to find a IK solution?
I can see that there is no reason to turn this joint around its own axis, because it would collide with the robots base, but should the problem already be addressed at this level?
If someone really doesn't pay attention to self-collisions, then (for whatever reason) they also want to use the full limits. Considering self-collisions, the limits should then be considered at this level one way or the other.
If you want to address this problem already here, it would also be conceivable to limit the joint further to about 170° because already then there is a collision with the base.
gavanderhoorn
commented
3 years ago
Why are the joint position limits of the elbow joint in each arm description set to
+-pieven if thejoint_limitedparameter isfalse. Should not they be defined as+-2piregarding the official declarations(https://www.universal-robots.com/media/50880/ur10_bz.pdf) or is that a sort of "trick" to make it easier for moveit to find a IK solution?I can see that there is no reason to turn this joint around its own axis, because it would collide with the robots base, but should the problem already be addressed at this level? If someone really doesn't pay attention to self-collisions, then (for whatever reason) they also want to use the full limits. Considering self-collisions, the limits should then be considered at this level one way or the other.
If you want to address this problem already here, it would also be conceivable to limit the joint further to about 170° because already then there is a collision with the base.