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joint_limits.yaml
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joint_limits.yaml
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# 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 #0.1
default_acceleration_scaling_factor: 0.1 #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:
j_arm_1_1:
has_velocity_limits: true
max_velocity: 0.05
has_acceleration_limits: true
max_acceleration: 0.05
j_arm_1_2:
has_velocity_limits: true
max_velocity: 0.05
has_acceleration_limits: true
max_acceleration: 0.05
j_arm_1_3:
has_velocity_limits: true
max_velocity: 0.05
has_acceleration_limits: true
max_acceleration: 0.05
j_arm_1_4:
has_velocity_limits: true
max_velocity: 0.05
has_acceleration_limits: true
max_acceleration: 0.05
j_arm_1_5:
has_velocity_limits: true
max_velocity: 0.05
has_acceleration_limits: true
max_acceleration: 0.05
j_arm_1_6:
has_velocity_limits: true
max_velocity: 0.05
has_acceleration_limits: true
max_acceleration: 0.05
j_arm_1_7:
has_velocity_limits: true
max_velocity: 0.05
has_acceleration_limits: true
max_acceleration: 0.05
j_arm_2_1:
has_velocity_limits: true
max_velocity: 0.05
has_acceleration_limits: true
max_acceleration: 0.05
j_arm_2_2:
has_velocity_limits: true
max_velocity: 0.05
has_acceleration_limits: true
max_acceleration: 0.05
j_arm_2_3:
has_velocity_limits: true
max_velocity: 0.05
has_acceleration_limits: true
max_acceleration: 0.05
j_arm_2_4:
has_velocity_limits: true
max_velocity: 0.05
has_acceleration_limits: true
max_acceleration: 0.05
j_arm_2_5:
has_velocity_limits: true
max_velocity: 0.05
has_acceleration_limits: true
max_acceleration: 0.05
j_arm_2_6:
has_velocity_limits: true
max_velocity: 0.05
has_acceleration_limits: true
max_acceleration: 0.05
j_arm_2_7:
has_velocity_limits: true
max_velocity: 0.05
has_acceleration_limits: true
max_acceleration: 0.05
left_hand_v1s_synergy_joint:
has_velocity_limits: true
max_velocity: 0.05
has_acceleration_limits: true
max_acceleration: 0.05
right_hand_v1s_synergy_joint:
has_velocity_limits: true
max_velocity: 0.05
has_acceleration_limits: true
max_acceleration: 0.05