Skip to content

Commit

Permalink
update panda
Browse files Browse the repository at this point in the history
Signed-off-by: Paul Gesel <[email protected]>
  • Loading branch information
pac48 committed Dec 27, 2023
1 parent 17e7423 commit cb8c0d7
Showing 1 changed file with 60 additions and 0 deletions.
60 changes: 60 additions & 0 deletions panda_moveit_config/config/joint_limits_jerk.yaml
Original file line number Diff line number Diff line change
@@ -0,0 +1,60 @@
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# 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, has_jerk_limits]
# Joint limits set from this config: https://frankaemika.github.io/docs/control_parameters.html

joint_limits:
panda_joint1:
has_velocity_limits: true
max_velocity: 2.1750
has_acceleration_limits: true
max_acceleration: 15.0
has_jerk_limits: false
panda_joint2:
has_velocity_limits: true
max_velocity: 2.1750
has_acceleration_limits: true
max_acceleration: 7.5
has_jerk_limits: false
panda_joint3:
has_velocity_limits: true
max_velocity: 2.1750
has_acceleration_limits: true
max_acceleration: 10.0
has_jerk_limits: false
panda_joint4:
has_velocity_limits: true
max_velocity: 2.1750
has_acceleration_limits: true
max_acceleration: 12.5
has_jerk_limits: false
panda_joint5:
has_velocity_limits: true
max_velocity: 2.6100
has_acceleration_limits: true
max_acceleration: 15.0
has_jerk_limits: false
panda_joint6:
has_velocity_limits: true
max_velocity: 2.6100
has_acceleration_limits: true
max_acceleration: 20.0
has_jerk_limits: false
panda_joint7:
has_velocity_limits: true
max_velocity: 2.6100
has_acceleration_limits: true
max_acceleration: 20.0
has_jerk_limits: false
panda_finger_joint1:
has_velocity_limits: true
max_velocity: 0.1
has_acceleration_limits: true
max_acceleration: 1.0
has_jerk_limits: false
panda_finger_joint2:
has_velocity_limits: true
max_velocity: 0.1
has_acceleration_limits: true
max_acceleration: 1.0
has_jerk_limits: false

0 comments on commit cb8c0d7

Please sign in to comment.