Joint limits in Studio

🛠 Done
Alban Laflaquiere

The joint limits of the robots seem to be incorrect in the Studio > Control > Joint Position panel.

It is sometimes possible to manually input / use the slider to define a value outside of the actual robot's joint limits (for instance: -2.9671 for the Panda's joint1 when the lower limit is supposed to be -2.8973) and sometimes impossible to input a value that should be in range because the slider's limit is too restrictive (for instance: UR5's joint6 blocked at -3.141593 when the actual limit is -6.2832).

2 months ago

Activity
Yahav changed status to 🛠 Done

2 months ago

Lars Berscheid changed status to 🤖 Working on it!

2 months ago

Lars Berscheid

The joint limits of the UR5e and the Franka robot are indeed wrong on our side. While we've already updated them a while ago in the motion library, they should also be fixed now in Studio (when adding a new robot).

In general, the minimum and maximum joint positions are configurable, and the slider will be within the range of these min/max values. You can set them under robot -> limits -> position in Studio.

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Alban Laflaquiere

Got it. It's working now.
Thanks!

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