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Update API

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This commit is contained in:
Даниил Грабарь
2026-05-28 15:20:57 +10:00
parent 02e0c25847
commit 75d2c499b2
4 changed files with 74 additions and 9 deletions
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src/iiwa_config/config/moveit/joint_limits.yaml
+6 -6
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@@ -20,8 +20,8 @@ joint_limits:
max_jerk: 85.0
joint2:
has_position_limits: true
min_position: -2.09
max_position: 2.09
min_position: -2.10
max_position: 2.10
has_velocity_limits: true
max_velocity: 1.71
has_acceleration_limits: true
@@ -40,8 +40,8 @@ joint_limits:
max_jerk: 87.0
joint4:
has_position_limits: true
min_position: -2.09
max_position: 2.09
min_position: -2.10
max_position: 2.10
has_velocity_limits: true
max_velocity: 2.27
has_acceleration_limits: true
@@ -60,8 +60,8 @@ joint_limits:
max_jerk: 122.0
joint6:
has_position_limits: true
min_position: -2.09
max_position: 2.09
min_position: -2.10
max_position: 2.10
has_velocity_limits: true
max_velocity: 3.14
has_acceleration_limits: true