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openarm_ros2/openarm_bimanual_moveit_config/config/joint_limits.yaml

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Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) See https://github.com/reazon-research/openarm_ros2/pull/3 for video
2025-04-10 09:31:15 +00:00
# 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:
left_left_pris1:
Add moveit2 package with dual arm/gripper (#5) * Create mujoco_ros2_control package * Enable Mujoco hardware interface for OpenArm * Verify connection with ros2_control * Update actuators to pos/vel * Add motor after creation * Tune KD for smoother motion * Restore realsense camera * Change camera to be 10 tilt from vertical to match physical model * Repair urdf to match physical robot * Checkpoint moveit2_configuration * Remove collision between camera and pedestal and remove additional ros2_control interfaces for mock * Enable octomap perception * Fix base_link to world transform * Update openarm to support moveit2 bimanual planning with end effectors * Improve safety of openarm_hardware zero position autocalibration * Remove openarm_mujoco_ros2_control from moveit2 branch * Restore sensor functionality
2025-04-22 09:46:27 +00:00
has_velocity_limits: true
max_velocity: 0.10000000000000001
Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) See https://github.com/reazon-research/openarm_ros2/pull/3 for video
2025-04-10 09:31:15 +00:00
has_acceleration_limits: false
max_acceleration: 0
left_rev1:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
left_rev2:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
left_rev3:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
left_rev4:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
left_rev5:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
left_rev6:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
left_rev7:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
Add moveit2 package with dual arm/gripper (#5) * Create mujoco_ros2_control package * Enable Mujoco hardware interface for OpenArm * Verify connection with ros2_control * Update actuators to pos/vel * Add motor after creation * Tune KD for smoother motion * Restore realsense camera * Change camera to be 10 tilt from vertical to match physical model * Repair urdf to match physical robot * Checkpoint moveit2_configuration * Remove collision between camera and pedestal and remove additional ros2_control interfaces for mock * Enable octomap perception * Fix base_link to world transform * Update openarm to support moveit2 bimanual planning with end effectors * Improve safety of openarm_hardware zero position autocalibration * Remove openarm_mujoco_ros2_control from moveit2 branch * Restore sensor functionality
2025-04-22 09:46:27 +00:00
right_left_pris1:
has_velocity_limits: true
max_velocity: 0.10000000000000001
Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) See https://github.com/reazon-research/openarm_ros2/pull/3 for video
2025-04-10 09:31:15 +00:00
has_acceleration_limits: false
max_acceleration: 0
right_rev1:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
right_rev2:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
right_rev3:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
right_rev4:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
right_rev5:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
right_rev6:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
right_rev7:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
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