EuRoC Forum

[ZdenekM]

Hello,

we found out that our planning SW (MoveIt) has difficulties with joint limits in range from -2pi to 2pi. It's also described here:

NOTE: As MoveIt! seems to have difficulties with finding plans for the UR with joint limits [-2pi, 2pi], there is a joint_limited version (of URDF) using joint limits [-pi,pi].

Is it possible to change those limits in URDF? It might be useful also for others and it should not hinder anyone (I hope).

[ipa-lth]

Hello,
since the limits of +/-2pi reflects the actual hardware, we don't want to artificually restrict the joint limits.

However, you can work around this issue for your moveit configuration:

1. Get the current urdf description of the ur
2. Modify this description with the axis limitation to +/-pi and save it as your own xacro
3. Upload this description to your own namespace on the parameterserver (e.g. /limited_ur/robot_description)
4. Modify the arguments in your movit-configuration launch files, to use your namespace (containing and your modified description)

Thanks for testing!

[ZdenekM]

Ok, thanks for information. This approach works.