From cb8c0d74ff16a8fcba19ba141297fa7d0d135643 Mon Sep 17 00:00:00 2001
From: Paul Gesel <paulgesel@gmail.com>
Date: Wed, 27 Dec 2023 13:26:24 -0500
Subject: [PATCH] update panda

Signed-off-by: Paul Gesel <paulgesel@gmail.com>
---
 .../config/joint_limits_jerk.yaml             | 60 +++++++++++++++++++
 1 file changed, 60 insertions(+)
 create mode 100644 panda_moveit_config/config/joint_limits_jerk.yaml

diff --git a/panda_moveit_config/config/joint_limits_jerk.yaml b/panda_moveit_config/config/joint_limits_jerk.yaml
new file mode 100644
index 0000000..996921c
--- /dev/null
+++ b/panda_moveit_config/config/joint_limits_jerk.yaml
@@ -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