From 56c6c6b2ab0df054a1d742a65986af39e7fa7e82 Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Tue, 4 Aug 2020 15:36:50 +0200
Subject: [PATCH] decreased joint-limits, to never let the cartesian motion
planner again hit the original limits
---
robots/panda_arm.xacro | 14 +++++++-------
1 file changed, 7 insertions(+), 7 deletions(-)
diff --git a/robots/panda_arm.xacro b/robots/panda_arm.xacro
index b44b230..7ad94ec 100644
--- a/robots/panda_arm.xacro
+++ b/robots/panda_arm.xacro
@@ -66,7 +66,7 @@
<parent link="${arm_id}_link0"/>
<child link="${arm_id}_link1"/>
<axis xyz="0 0 1"/>
- <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+ <limit effort="87" lower="-2.7973" upper="2.7973" velocity="2.1750"/>
</joint>
<link name="${arm_id}_link2">
<visual>
@@ -99,7 +99,7 @@
<parent link="${arm_id}_link1"/>
<child link="${arm_id}_link2"/>
<axis xyz="0 0 1"/>
- <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+ <limit effort="87" lower="-1.6628" upper="1.6628" velocity="2.1750"/>
</joint>
<link name="${arm_id}_link3">
<visual>
@@ -132,7 +132,7 @@
<parent link="${arm_id}_link2"/>
<child link="${arm_id}_link3"/>
<axis xyz="0 0 1"/>
- <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+ <limit effort="87" lower="-2.6973" upper="2.6973" velocity="2.1750"/>
</joint>
<link name="${arm_id}_link4">
<visual>
@@ -165,7 +165,7 @@
<parent link="${arm_id}_link3"/>
<child link="${arm_id}_link4"/>
<axis xyz="0 0 1"/>
- <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+ <limit effort="87" lower="-2.9718" upper="0.0000" velocity="2.1750"/>
</joint>
<link name="${arm_id}_link5">
<visual>
@@ -217,7 +217,7 @@
<parent link="${arm_id}_link4"/>
<child link="${arm_id}_link5"/>
<axis xyz="0 0 1"/>
- <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+ <limit effort="12" lower="-2.7973" upper="2.7973" velocity="2.6100"/>
</joint>
<link name="${arm_id}_link6">
<visual>
@@ -250,7 +250,7 @@
<parent link="${arm_id}_link5"/>
<child link="${arm_id}_link6"/>
<axis xyz="0 0 1"/>
- <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+ <limit effort="12" lower="0.0000" upper="3.6525" velocity="2.6100"/>
</joint>
<link name="${arm_id}_link7">
<visual>
@@ -283,7 +283,7 @@
<parent link="${arm_id}_link6"/>
<child link="${arm_id}_link7"/>
<axis xyz="0 0 1"/>
- <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+ <limit effort="12" lower="-2.7973" upper="2.7973" velocity="2.6100"/>
</joint>
<link name="${arm_id}_link8">
<collision>
--
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