New URDF With joint velocity from the data sheet. #205
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ghost
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ghost
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It would be better to change the main URDF directly, would there be any benefit having two different URDF? |
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Not necessary to have two files. For my reference, I have created a new file. |
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Industrial motion PTP, LIN and CIRC are not yet released in MoveIt!. However, Pilz industrial motion has developed industrial motion plugins. During my implementation with iiwa7, I have encountered with joint velocity limit problems both in simulation and real hardware. In this new URDF, I have changed the joint velocity according to the KUKU IIWA 7 specification.
Currently, I can use PTP motion with the robot. But for LIN motion, I need joint acceleration limits as well, which I could not find it online. Also cartesian limits. Is possible that anyone could help me with this.