G.A. vd. Hoorn

@bmaric wrote: > Should I make pull request? that would be great, yes.

:bellhop_bell: @bmaric?

We would still be interested in a PR that shows the changes needed for RSI v4. If you have the time @bmaric, that would be appreciated.

I believe what you're describing are the usable limits. Those are not the same as the actual joint limits. From the system variables of a CR-7iA/L: ```yaml lowerlims: - -2.967060e+00...

> The actual limits for J3 are mechanical impossible for the robot. that could be, but this is what Fanuc specifies. We opted for consistency when creating that model: we...

for MoveIt specifically, what could help would be to update the [collision mesh](https://github.com/ros-industrial/fanuc/blob/74d7d441311590d3950b03da9a1a86409332c2e8/fanuc_cr7ia_support/meshes/cr7ial/collision/link_2.stl) to model the space between the two prongs of the link, instead of covering it completely with...

We could certainly take a look at them @arthurpetron. Would you have them somewhere available in a repository? That would be most convenient.

Initial support for UR16e was merged into `melodic-devel-staging`. We'd still need to check the inertias and other dynamic parameters though, just to make sure they are correct. @fmauch: which values...

And the changes in https://github.com/ipa-led/universal_robot/compare/ur_description_args...fmauch:inertia_from_ur? Especially the later commits seem relevant perhaps?

Creating a MoveIt configuration package is just a matter of completing the wizard. For any use other than a quick test you need to do this in any case, so...