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read upper / lower limit from kinematic in olp custom xml

PLM World Member Phenom PLM World Member Phenom
PLM World Member Phenom

hi,

 

See anyone a way to read the upper / lower limits from gripper (joints) in custom xml?

 

my idea:

move gripper joint via # DriveDeviceToValuesASynch

 

move pose is not available -> move pose drive all joints!!!

 

my problem:

i have no information about the max limits.

gripper 1 joint 1 has 90°

gripper 2 joint 1 has 115°

...

 

Kind regards,

Benjamin Voelzke