Can't set joint limits of UR5 robot in python

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Johannes Mäder

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Feb 5, 2022, 2:25:13 AMFeb 5
to Robotics & Machine Vision Toolboxes
Hi,

I try to set the limits of the joints of the UR5 robot but can't assign a value.
I use Anaconda jupyter notebook with Python 3.8.12.
I initialized a UR robot as robot and tried it with these:

print(robot.qlim)
a=np.array([[0,0,0,0,0,0],[math.pi,math.pi,math.pi,math.pi,math.pi,math.pi]])
print(a)
robot.qlim=a


but receive the following error:

AttributeError Traceback (most recent call last) C:\****\AppData\Local\Temp/ipykernel_7228/2796920760.py in <module> 2 a=np.array([[0,0,0,0,0,0],[math.pi,math.pi,math.pi,math.pi,math.pi,math.pi]]) 3 print(a) ----> 4 robot.qlim=a AttributeError: can't set attribute

Can someone give me a hint what to do to set the joint limits correctly?

BR

Hannes

Johannes Mäder

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Feb 7, 2022, 5:06:20 AMFeb 7
to Robotics & Machine Vision Toolboxes
Hi,

problem solved.
I have to assigne it to the links and not to the robot. For Link number 4:

robot.links[3].qlim=[-math.pi/2,0]

BR

Hannes

umar anjum

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Feb 7, 2022, 5:06:24 AMFeb 7
to Robotics & Machine Vision Toolboxes
Hello, 

Can you tell how did you initialized UR5 in python?

Johannes Mäder

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Feb 7, 2022, 9:15:42 AMFeb 7
to Robotics & Machine Vision Toolboxes
Hi umara,

for initialisation just enter:

robot = rtb.models.DH.UR5()

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