104 lines
3.3 KiB
YAML
104 lines
3.3 KiB
YAML
# Copyright 2025 Enactic, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# 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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openarm_left_finger_joint1:
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has_velocity_limits: true
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max_velocity: 10.0
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has_acceleration_limits: true
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max_acceleration: 4.0
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openarm_left_joint1:
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has_velocity_limits: true
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max_velocity: 16.754666
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has_acceleration_limits: true
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max_acceleration: 4.0
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openarm_left_joint2:
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has_velocity_limits: true
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max_velocity: 16.754666
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has_acceleration_limits: true
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max_acceleration: 4.0
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openarm_left_joint3:
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has_velocity_limits: true
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max_velocity: 5.445426
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has_acceleration_limits: true
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max_acceleration: 4.0
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openarm_left_joint4:
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has_velocity_limits: true
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max_velocity: 5.445426
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has_acceleration_limits: true
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max_acceleration: 4.0
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openarm_left_joint5:
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has_velocity_limits: true
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max_velocity: 20.943946
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has_acceleration_limits: true
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max_acceleration: 4.0
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openarm_left_joint6:
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has_velocity_limits: true
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max_velocity: 20.943946
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has_acceleration_limits: true
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max_acceleration: 4.0
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openarm_left_joint7:
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has_velocity_limits: true
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max_velocity: 20.943946
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has_acceleration_limits: true
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max_acceleration: 4.0
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openarm_right_finger_joint1:
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has_velocity_limits: true
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max_velocity: 10.0
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has_acceleration_limits: false
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max_acceleration: 0.0
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openarm_right_joint1:
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has_velocity_limits: true
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max_velocity: 16.754666
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has_acceleration_limits: false
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max_acceleration: 0.0
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openarm_right_joint2:
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has_velocity_limits: true
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max_velocity: 16.754666
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has_acceleration_limits: false
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max_acceleration: 0.0
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openarm_right_joint3:
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has_velocity_limits: true
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max_velocity: 5.445426
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has_acceleration_limits: false
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max_acceleration: 0.0
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openarm_right_joint4:
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has_velocity_limits: true
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max_velocity: 5.445426
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has_acceleration_limits: false
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max_acceleration: 0.0
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openarm_right_joint5:
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has_velocity_limits: true
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max_velocity: 20.943946
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has_acceleration_limits: false
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max_acceleration: 0.0
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openarm_right_joint6:
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has_velocity_limits: true
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max_velocity: 20.943946
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has_acceleration_limits: false
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max_acceleration: 0.0
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openarm_right_joint7:
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has_velocity_limits: true
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max_velocity: 20.943946
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has_acceleration_limits: false
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max_acceleration: 0.0 |