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hey, i was wondering if im doing something wrong or if moveit cant handle revolute joints which surpass -2pi/2pi. im extending an ur5 with a contiunous joint and moveit automatically limits it to -pi/pi. However if i declare the joint as revolute with some generous limits like -10pi/10pi the planning fails or gives terrible results. Is there any way to fix this problem? thanks
It can handle continuous or less-limited revolute joints but.
Continuous joints are handled differently from limited joints.
Solutions are always given in [-pi;pi] but can wrap around when needed.
For execution the generated trajectories can actually unwind and give
waypoints outside [-pi;pi].
If you encounter a specific problem here please report it in the github repository.
Simulating continuous joints by larger rotation limits is a bad idea. The biggest problem is that you increase the search space tremendously which is probably why planning times out.
Hello, i have a simular problem. I am working with a KUKA robot which has joint limits of +/-190 degrees. If the robot moves to a position where the limits overlap, it gets trapped there.
Is there a posibility to use revolute joints with limits over +/-pi? Thanks
Asked: 2017-08-09 05:02:32 -0500
Seen: 679 times
Last updated: Aug 10 '17
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