From 941e4d09ada8f8c22ecb7879ffb4183f76539e1a Mon Sep 17 00:00:00 2001 From: Yuto Inagaki Date: Fri, 22 May 2015 13:36:24 +0900 Subject: [PATCH] [baxter.l] expand joint limit to refrect precice robot model --- jsk_baxter_robot/baxtereus/baxter.l | 30 ++++++++++++++--------------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/jsk_baxter_robot/baxtereus/baxter.l b/jsk_baxter_robot/baxtereus/baxter.l index 23f41102f2..b036a1c18e 100644 --- a/jsk_baxter_robot/baxtereus/baxter.l +++ b/jsk_baxter_robot/baxtereus/baxter.l @@ -2933,7 +2933,7 @@ :max-joint-velocity 4.000000 :max-joint-torque 15.000000 :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -175.267792 :max 175.267792 + :min (- -175.267792 5.0) :max (+ 175.267792 5.0) )) (setq left_w0_to_itb_fixed_jt (instance rotational-joint :init @@ -2949,7 +2949,7 @@ :max-joint-velocity 4.000000 :max-joint-torque 15.000000 :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -90.000000 :max 119.977364 + :min (- -90.000000 5.0) :max (+ 119.977364 5.0) )) (setq left_w0_jt (instance rotational-joint :init @@ -2958,7 +2958,7 @@ :max-joint-velocity 4.000000 :max-joint-torque 15.000000 :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -175.267792 :max 175.267792 + :min (- -175.267792 5.0) :max (+ 175.267792 5.0) )) (setq left_w0_fixed_jt (instance rotational-joint :init @@ -2974,7 +2974,7 @@ :max-joint-velocity 1.500000 :max-joint-torque 50.000000 :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -2.864789 :max 150.000351 + :min (- -2.864789 5.0) :max (+ 150.000351 5.0) )) (setq left_e0_jt (instance rotational-joint :init @@ -2983,7 +2983,7 @@ :max-joint-velocity 1.500000 :max-joint-torque 50.000000 :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -174.991623 :max 174.991623 + :min (- -174.991623 5.0) :max (+ 174.991623 5.0) )) (setq left_e0_fixed_jt (instance rotational-joint :init @@ -2999,7 +2999,7 @@ :max-joint-velocity 1.500000 :max-joint-torque 100.000000 :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -123.014038 :max 59.988682 + :min (- -123.014038 5.0) :max (+ 59.988682 5.0) )) (setq left_s0_jt (instance rotational-joint :init @@ -3008,7 +3008,7 @@ :max-joint-velocity 1.500000 :max-joint-torque 50.000000 :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -97.499077 :max 97.499077 + :min (- -97.499077 5.0) :max (+ 97.499077 5.0) )) (setq right_endpoint_jt (instance rotational-joint :init @@ -3066,7 +3066,7 @@ :max-joint-velocity 4.000000 :max-joint-torque 15.000000 :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -175.267792 :max 175.267792 + :min (- -175.267792 5.0) :max (+ 175.267792 5.0) )) (setq right_w0_to_itb_fixed_jt (instance rotational-joint :init @@ -3082,7 +3082,7 @@ :max-joint-velocity 4.000000 :max-joint-torque 15.000000 :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -90.000000 :max 119.977364 + :min (- -90.000000 5.0) :max (+ 119.977364 5.0) )) (setq right_w0_jt (instance rotational-joint :init @@ -3091,7 +3091,7 @@ :max-joint-velocity 4.000000 :max-joint-torque 15.000000 :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -175.267792 :max 175.267792 + :min (- -175.267792 5.0) :max (+ 175.267792 5.0) )) (setq right_w0_fixed_jt (instance rotational-joint :init @@ -3107,7 +3107,7 @@ :max-joint-velocity 1.500000 :max-joint-torque 50.000000 :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -2.864789 :max 150.000351 + :min (- -2.864789 5.0) :max (+ 150.000351 5.0) )) (setq right_e0_jt (instance rotational-joint :init @@ -3116,7 +3116,7 @@ :max-joint-velocity 1.500000 :max-joint-torque 50.000000 :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -174.991623 :max 174.991623 + :min (- -174.991623 5.0) :max (+ 174.991623 5.0) )) (setq right_e0_fixed_jt (instance rotational-joint :init @@ -3132,7 +3132,7 @@ :max-joint-velocity 1.500000 :max-joint-torque 100.000000 :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -123.014038 :max 59.988682 + :min (- -123.014038 5.0) :max (+ 59.988682 5.0) )) (setq right_s0_jt (instance rotational-joint :init @@ -3141,7 +3141,7 @@ :max-joint-velocity 1.500000 :max-joint-torque 50.000000 :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -97.499077 :max 97.499077 + :min (- -97.499077 5.0) :max (+ 97.499077 5.0) )) (setq head_pan_jt (instance rotational-joint :init @@ -3150,7 +3150,7 @@ :max-joint-velocity 10000.000000 :max-joint-torque 50000.000000 :axis (let ((tmp-axis (float-vector 0.0000000000000000e+00 0.0000000000000000e+00 1.0000000000000000e+00))) (if (eps= (norm tmp-axis) 0.0) (float-vector 1 0 0) tmp-axis)) - :min -90.000000 :max 90.000000 + :min (- -90.000000 5.0) :max (+ 90.000000 5.0) )) (setq left_torso_arm_mount_jt (instance rotational-joint :init