Hello guys,
Recently, i discovers a new class named "JointLimits".
You can get it thanks to the following method :
Also, it seems you can set them up, but i don't know how to apply the new axis limits configuration.
JointPosition maxJointPosition = new JointPosition (J1max, J2max, J3max, J4max, J5max, J6max, J7max);
JointPosition minJointPosition = new JointPosition (J1min, J2min, J3min, J4min, J5min, J6min, J7min);
JointLimits J_limits = new JointLimits(maxJointPosition , minJointPosition);
Both codes are returning two tables : one table for max and min Joint Position and the values are different.
So here my question : how could i apply the new jointLimits configuration?
I would like to impose a new axis limits when I'm using a positionHold() with a compliant mode.
The equivalent would be the .setAxisLimitsMax() of the HandGuiding() method.
I want this new limits because it is possible that the robot reach the limits or goes over the limits when using a positionHold() with a compliant mode. I would like to avoid that.
Thanks in advance,
Best regards,