Brett Hemes (3M)

> Do we know what the defaults are that MoveIt would use in that case? I currently have the same question... From what I am seeing currently, it seems MoveIt's...

From a quick investigation, the default behavior seems to be as follows: **For the parameter server** For each joint: /robot_description_planning/joint_limits/[joint_name]/ - has_acceleration_limits = false - max_acceleration = 0 **Inside of...

I personally like this approach. If we decide on this, we should make sure to document it somewhere so users can figure it out. I saw the comment in the...

I just checked this out and I can't find anything wrong with it. I will, however, wait for @gavanderhoorn to give it a once over as he is much better...

Not really sure here, but we haven't used the informal series names anywhere else in the package names (e.g. Agilus). They are, I believe, mentioned in the manifests. I think...

Also, FYI... I believe the meshes for the KR6r900 ([existing](https://github.com/ros-industrial/kuka_experimental/tree/indigo-devel/kuka_kr6_support/meshes/kr6r900sixx)) and KR10r900 are the same.

> I based my _macro.xacro on the existing one for the lwr_iiwa_14_r820 and I couldn't figure out how they calculated their joint limits. For example, joint A1 is +/- 170...

> the Kuka manual (pg 13) was confusing. Note their diagram for joint offsets: Have you made any progress on this? Maybe ask Kuka? Is there the same issue with...

If the flange meshes are shared (which I imagine they are), I vote for putting these in a shared common folder a la the Agilus series (i.e., `meshes/lbr_iiwa/...`)

:+1:, waiting on #118 before working on getting this all wrapped up