fix joint limits

Author: cobot

kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/joint_limits.yaml

@@ -9,36 +9,49 @@ default_acceleration_scaling_factor: 0.1
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 joint_limits:
   joint_1:
+    has_position_limits: false # continuous joint
     has_velocity_limits: true
     max_velocity: 1.3963000000000001
     has_acceleration_limits: true
     max_acceleration: 8.6
   joint_2:
+    has_position_limits: true
+    min_position: -2.4                 # taken from kortex_description URDF # 2.41
+    max_position:  2.4
     has_velocity_limits: true
     max_velocity: 1.3963000000000001
     has_acceleration_limits: true
     max_acceleration: 8.6
   joint_3:
+    has_position_limits: false # continuous joint
     has_velocity_limits: true
     max_velocity: 1.3963000000000001
     has_acceleration_limits: true
     max_acceleration: 8.6
   joint_4:
+    has_position_limits: true
+    min_position: -2.65                 # taken from kortex_description URDF # 2.66
+    max_position:  2.65
     has_velocity_limits: true
     max_velocity: 1.3963000000000001
     has_acceleration_limits: true
     max_acceleration: 8.6
   joint_5:
+    has_position_limits: false # continuous joint
     has_velocity_limits: true
     max_velocity: 1.2218
     has_acceleration_limits: true
     max_acceleration: 8.6
   joint_6:
+    has_position_limits: true
+    min_position: -2.22                 # taken from kortex_description URDF # 2.23
+    max_position:  2.22
     has_velocity_limits: true
     max_velocity: 1.2218
     has_acceleration_limits: true
     max_acceleration: 8.6
   joint_7:
+    has_position_limits: false # continuous joint
     has_velocity_limits: true
     max_velocity: 1.2218
     has_acceleration_limits: true

kortex_moveit_config/kinova_gen3_7dof_robotiq_2f_85_moveit_config/config/moveit.rviz

@@ -14,6 +14,7 @@ Visualization Manager:
       Name: Grid
       Value: true
     - Class: moveit_rviz_plugin/MotionPlanning
+      MoveIt_Use_Constraint_Aware_IK: true
       Name: MotionPlanning
       Planned Path:
         Loop Animation: true
@@ -25,6 +26,8 @@ Visualization Manager:
         Scene Alpha: 1
       Scene Robot:
         Robot Alpha: 0.5
+      Planning Request:
+        Use Collision-Aware IK: true
       Value: true
   Global Options:
     Fixed Frame: world