1a1084c627
* 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
90 lines
2.6 KiB
YAML
90 lines
2.6 KiB
YAML
# 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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left_left_pris1:
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has_velocity_limits: true
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max_velocity: 0.10000000000000001
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has_acceleration_limits: false
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max_acceleration: 0
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left_rev1:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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left_rev2:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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left_rev3:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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left_rev4:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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left_rev5:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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left_rev6:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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left_rev7:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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right_left_pris1:
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has_velocity_limits: true
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max_velocity: 0.10000000000000001
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has_acceleration_limits: false
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max_acceleration: 0
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right_rev1:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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right_rev2:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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right_rev3:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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right_rev4:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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right_rev5:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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right_rev6:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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right_rev7:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0 |