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Match urdf soft limits with the physical joint limits #118

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Match urdf soft limits with the physical joint limits #118

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974d1c0
fix soft joint limits to be within the actual limits
squizz617 Mar 6, 2022
756179c
fix upper limit of joint4 (1 -> -4 deg)
squizz617 Mar 6, 2022
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14 changes: 7 additions & 7 deletions panda_description/urdf/panda.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@
</collision>
</link>
<joint name="panda_joint1" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8972" soft_upper_limit="2.8972" />
<origin rpy="0 0 0" xyz="0 0 0.333" />
<parent link="panda_link0" />
<child link="panda_link1" />
Expand All @@ -49,7 +49,7 @@
</collision>
</link>
<joint name="panda_joint2" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628" />
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7627" soft_upper_limit="1.7627" />
<origin rpy="-1.57079632679 0 0" xyz="0 0 0" />
<parent link="panda_link1" />
<child link="panda_link2" />
Expand All @@ -69,7 +69,7 @@
</collision>
</link>
<joint name="panda_joint3" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8972" soft_upper_limit="2.8972" />
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0" />
<parent link="panda_link2" />
<child link="panda_link3" />
Expand All @@ -89,7 +89,7 @@
</collision>
</link>
<joint name="panda_joint4" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="0.0175" />
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0717" soft_upper_limit="-0.0698" />
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0" />
<parent link="panda_link3" />
<child link="panda_link4" />
Expand All @@ -109,7 +109,7 @@
</collision>
</link>
<joint name="panda_joint5" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8972" soft_upper_limit="2.8972" />
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0" />
<parent link="panda_link4" />
<child link="panda_link5" />
Expand All @@ -129,7 +129,7 @@
</collision>
</link>
<joint name="panda_joint6" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525" />
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0174" soft_upper_limit="3.7524" />
<origin rpy="1.57079632679 0 0" xyz="0 0 0" />
<parent link="panda_link5" />
<child link="panda_link6" />
Expand All @@ -149,7 +149,7 @@
</collision>
</link>
<joint name="panda_joint7" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8972" soft_upper_limit="2.8972" />
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0" />
<parent link="panda_link6" />
<child link="panda_link7" />
Expand Down