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arm navigation - problem with violating joint limits

asked 2012-08-24 13:47:21 -0500

jeffreyk gravatar image

Hello all, I am having a problem with the pr2 violating the joint limits that are set for it in arm_navigation. I have done a little research on it and it sounds like the joint limits are set to be very conservative, especially on the wrist flex joints. I'm sure that the joint limits are set somewhere in a yaml file, but where can I find them? Thanks in advance!

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thanks, exactly what I was looking for.

jeffreyk gravatar image jeffreyk  ( 2012-08-26 10:41:00 -0500 )edit

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answered 2012-08-25 23:18:31 -0500

jbohren gravatar image

The software joint limits are defined in the PR2's URDF files. You can read more on the limits here.

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Asked: 2012-08-24 13:47:21 -0500

Seen: 209 times

Last updated: Aug 25 '12