I am using a dual configuration with 2 UR3e robots. At some point, I am using one of the robots to rotate a pipe, so I make it rotate several revolutions using the wrist3 joint. Because of this, the joint value can quickly become quite large. The thing is that I want to keep the robot joint values within the limits of [-2pi, 2pi] for compatibility with ROS MoveIt that I also use for motion planning.
I notice that using the Polyscope option to set a specific value of the Wrist3 joint, the wrist3 joint just moves less than a revolution and the value of the joint angle resets to the requested joint angle.
My question is then, can this behavior be achieved using URScript? can I reset the joint value of the wrist3 joint? or at least is there a way to execute the same function that the Polyscope has to move the wrist3 to a desire joint angle that does the minimal motion needed to achieve the requested position and then resets the joint angle?
Welcome to the UR community!
You can use the URScript reset_revolution_counter() for this purpose. I you are giving a cartesian target the controller will also find a joint solution that is not making the wrist3 move the long way.
Sorry for the late reply.
That was exactly what I needed. Thank you!
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