81 lines
2.3 KiB
YAML
81 lines
2.3 KiB
YAML
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
|
|
|
|
# For beginners, we downscale velocity and acceleration limits.
|
|
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
|
|
default_velocity_scaling_factor: 0.1
|
|
default_acceleration_scaling_factor: 0.1
|
|
|
|
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
|
|
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
|
|
joint_limits:
|
|
joint1:
|
|
has_position_limits: true
|
|
min_position: -2.97
|
|
max_position: 2.97
|
|
has_velocity_limits: true
|
|
max_velocity: 1.71
|
|
has_acceleration_limits: true
|
|
max_acceleration: 8.5521
|
|
has_jerk_limits: true
|
|
max_jerk: 85.0
|
|
joint2:
|
|
has_position_limits: true
|
|
min_position: -2.10
|
|
max_position: 2.10
|
|
has_velocity_limits: true
|
|
max_velocity: 1.71
|
|
has_acceleration_limits: true
|
|
max_acceleration: 8.5521
|
|
has_jerk_limits: true
|
|
max_jerk: 85.0
|
|
joint3:
|
|
has_position_limits: true
|
|
min_position: -2.97
|
|
max_position: 2.97
|
|
has_velocity_limits: true
|
|
max_velocity: 1.75
|
|
has_acceleration_limits: true
|
|
max_acceleration: 8.7266
|
|
has_jerk_limits: true
|
|
max_jerk: 87.0
|
|
joint4:
|
|
has_position_limits: true
|
|
min_position: -2.10
|
|
max_position: 2.10
|
|
has_velocity_limits: true
|
|
max_velocity: 2.27
|
|
has_acceleration_limits: true
|
|
max_acceleration: 11.3446
|
|
has_jerk_limits: true
|
|
max_jerk: 113.0
|
|
joint5:
|
|
has_position_limits: true
|
|
min_position: -2.97
|
|
max_position: 2.97
|
|
has_velocity_limits: true
|
|
max_velocity: 2.44
|
|
has_acceleration_limits: true
|
|
max_acceleration: 12.2173
|
|
has_jerk_limits: true
|
|
max_jerk: 122.0
|
|
joint6:
|
|
has_position_limits: true
|
|
min_position: -2.10
|
|
max_position: 2.10
|
|
has_velocity_limits: true
|
|
max_velocity: 3.14
|
|
has_acceleration_limits: true
|
|
max_acceleration: 15.7080
|
|
has_jerk_limits: true
|
|
max_jerk: 157.0
|
|
joint7:
|
|
has_position_limits: true
|
|
min_position: -3.05
|
|
max_position: 3.05
|
|
has_velocity_limits: true
|
|
max_velocity: 3.14
|
|
has_acceleration_limits: true
|
|
max_acceleration: 15.7080
|
|
has_jerk_limits: true
|
|
max_jerk: 157.0
|
|
|