-
Notifications
You must be signed in to change notification settings - Fork 112
/
joint_limits.yaml
59 lines (58 loc) · 1.74 KB
/
joint_limits.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# 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, has_jerk_limits]
joint_limits:
panda_joint1:
has_velocity_limits: true
max_velocity: 2.1750
has_acceleration_limits: true
max_acceleration: 3.75
has_jerk_limits: false
panda_joint2:
has_velocity_limits: true
max_velocity: 2.1750
has_acceleration_limits: true
max_acceleration: 1.875
has_jerk_limits: false
panda_joint3:
has_velocity_limits: true
max_velocity: 2.1750
has_acceleration_limits: true
max_acceleration: 2.5
has_jerk_limits: false
panda_joint4:
has_velocity_limits: true
max_velocity: 2.1750
has_acceleration_limits: true
max_acceleration: 3.125
has_jerk_limits: false
panda_joint5:
has_velocity_limits: true
max_velocity: 2.6100
has_acceleration_limits: true
max_acceleration: 3.75
has_jerk_limits: false
panda_joint6:
has_velocity_limits: true
max_velocity: 2.6100
has_acceleration_limits: true
max_acceleration: 5.0
has_jerk_limits: false
panda_joint7:
has_velocity_limits: true
max_velocity: 2.6100
has_acceleration_limits: true
max_acceleration: 5.0
has_jerk_limits: false
panda_finger_joint1:
has_velocity_limits: true
max_velocity: 0.1
has_acceleration_limits: true
max_acceleration: 1.0
has_jerk_limits: false
panda_finger_joint2:
has_velocity_limits: true
max_velocity: 0.1
has_acceleration_limits: true
max_acceleration: 1.0
has_jerk_limits: false