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seed-solutions / aero-ros-pkg

AERO (SEEDNOID) ROS Package
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fix hand yaw limits #392

Open sasabot opened 5 years ago

sasabot commented 5 years ago

with a discussion with @YoheiKakiuchi it is better to set the urdf limits to the actual hardware limits

and for other models with different limits, limit the range on the software side using the yaml file

y-shiigi commented 5 years ago

I understand, it's no problem. But is the joint_limits.yaml working? Do I need to load at aero_bringup?

sasabot commented 5 years ago

it should be set once running setup.sh I confirmed that it works on our robot but please check just in case

y-shiigi commented 5 years ago

I don't have the hand-yaw parts, so I changed elbow's limit as below:

  r_elbow_joint:
    has_velocity_limits: true
    max_velocity: 1.2
    has_acceleration_limits: false
    max_acceleration: 0
    min_position: -0.1
    max_position: 0

After running setup.sh typeFCESy and catkin build aero_samples, the sample motion(fullbody_test_node and ik_sample_node) are not changed. I thought the elbow will not be moved in this parameter. Am I misunderstanding?

sasabot commented 5 years ago

hmm... i think i see the problem the setting only changes the software limit. inside the code you have to check the bounds yourself perhaps we need a boundary check inside some of the aero_std functions...