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read upper / lower limit from kinematic in olp custom xml

Gears Phenom Gears Phenom
Gears Phenom



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