← Source browser

src/custom-ur-descriptions/cms_moveit_config/config/pipettor/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
# 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:
  elbow_joint:
    has_velocity_limits: true
    max_velocity: 3.1415926535897931
    has_acceleration_limits: true
    max_acceleration: 5.0
    has_deceleration_limits: true
    max_deceleration: -5.0
  # Pipettor has no movable joints controlled by MoveIt
  shoulder_lift_joint:
    has_velocity_limits: true
    max_velocity: 3.1415926535897931
    has_acceleration_limits: true
    max_acceleration: 5.0
    has_deceleration_limits: true
    max_deceleration: -5.0
  shoulder_pan_joint:
    has_velocity_limits: true
    max_velocity: 3.1415926535897931
    has_acceleration_limits: true
    max_acceleration: 5.0
    has_deceleration_limits: true
    max_deceleration: -5.0
  wrist_1_joint:
    has_velocity_limits: true
    max_velocity: 3.1415926535897931
    has_acceleration_limits: true
    max_acceleration: 5.0
    has_deceleration_limits: true
    max_deceleration: -5.0
  wrist_2_joint:
    has_velocity_limits: true
    max_velocity: 3.1415926535897931
    has_acceleration_limits: true
    max_acceleration: 5.0
    has_deceleration_limits: true
    max_deceleration: -5.0
  wrist_3_joint:
    has_velocity_limits: true
    max_velocity: 3.1415926535897931
    has_acceleration_limits: true
    max_acceleration: 5.0
    has_deceleration_limits: true
    max_deceleration: -5.0