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56 lines
1.7 KiB
56 lines
1.7 KiB
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
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# For beginners, we downscale velocity and acceleration limits.
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# 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.
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default_velocity_scaling_factor: 0.1
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default_acceleration_scaling_factor: 0.1
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# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
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# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
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joint_limits:
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joint_arm_l0:
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has_velocity_limits: true
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max_velocity: 1
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has_acceleration_limits: false
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max_acceleration: 0
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joint_arm_l1:
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has_velocity_limits: true
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max_velocity: 1
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has_acceleration_limits: false
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max_acceleration: 0
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joint_arm_l2:
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has_velocity_limits: true
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max_velocity: 1
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has_acceleration_limits: false
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max_acceleration: 0
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joint_arm_l3:
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has_velocity_limits: true
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max_velocity: 1
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has_acceleration_limits: false
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max_acceleration: 0
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joint_gripper_finger_left:
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has_velocity_limits: true
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max_velocity: 1
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has_acceleration_limits: false
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max_acceleration: 0
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joint_gripper_finger_right:
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has_velocity_limits: true
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max_velocity: 1
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has_acceleration_limits: false
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max_acceleration: 0
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joint_lift:
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has_velocity_limits: true
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max_velocity: 1
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has_acceleration_limits: false
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max_acceleration: 0
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joint_wrist_yaw:
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has_velocity_limits: true
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max_velocity: 1
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has_acceleration_limits: false
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max_acceleration: 0
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position/x:
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has_velocity_limits: true
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max_velocity: 0.1
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position/theta:
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has_velocity_limits: true
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max_velocity: 0.1
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