MoveIt! Reaches joint limits when comanding yumi.

[diogoalmeida]

It is happening on the ridgeback_yumi, but I am assuming the true issue is in this repo. When using MoveIt!, some of the trajectories will cause Yumi to reach joint limits. This should never happen.

[hkaraoguz]

The solution I had was to modify the urdf file under yumi_hw and decrease the joint limits

[diogoalmeida]

Can you point me to the values you used?

[hkaraoguz]

https://github.com/kth-ros-pkg/yumi/blob/project/FACT/yumi_description/urdf/yumi.urdf

[YoshuaNava]

Hey,
Right now the URDF contains the joint position and velocity limits specified in the YuMi datasheet.

I had also thought about reducing the joint limits in the URDF. However, I didn't do it because I thought that for correctness we should follow ABB's specification.

On the other hand, hitting the joint limits is not acceptable, and joint limits is a solution that has already been put into practice by @hkaraoguz and another team in the lab with success. What is your opinion on this? Should we modify the values or keep them as they are?

[gavanderhoorn]

@YoshuaNava: this could be a degree to radian conversion thing.

In my experience, converting to radians and then flooring to 4 digits typically works.

[diogoalmeida]

It feels like @gavanderhoorn solution is worth a shot @YoshuaNava :)