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Update acceleration limits for robot configs #195

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merged 3 commits into from
Jan 8, 2024
Merged

Update acceleration limits for robot configs #195

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cb8c0d7
update panda
pac48 Dec 27, 2023
c9bc15f
rename file to joint_limits_jerk_limited.yaml
pac48 Dec 31, 2023
7f0a7a5
rename to hard_joint_limits.yaml
pac48 Jan 7, 2024
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60 changes: 60 additions & 0 deletions panda_moveit_config/config/hard_joint_limits.yaml
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Original file line number Diff line number Diff line change
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# 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
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