Hi.

The joint limits defined in the URDF of the panda manipulator are either (1) different from the specification or (2) slightly exceed the specified min/max.

Expected (as per the datasheet provided by the manufacturer):

• joints 1, 3, 5, 7
  • [-166:166] deg
• joint 2
  • [-101:101] deg
• joint 4
  • [-176:-4] deg
• joint 6
  • [-1:215] deg

Defined soft lower and upper limits:

• joints 1, 3, 5, 7
  • [-2.8973:2.8973] rad = [-166.003062:166.003062] deg
  • exceeds the limit by 0.003 degrees
• joint 2
  • [-1.7628:1.7628] rad = [-101.001:101.001] deg
  • exceeds the limit by 0.001 degrees
• joint 4
  • [-3.0718:0.0175] rad = [-176.0011:1.00267] deg
  • upper limit is WRONG; difference is 5 degrees
  • lower limit exceeds the spec by 0.001 degrees
• joint 6
  • [-0.0175:3.7525] rad = [-1.00267:215.0024] deg
  • exceeds the limit by 0.002 degrees

Could you consider fixing these? Thank you.