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description: spec limits in degrees.
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Use rosparam's and xacro's support for these special constructors to convert to radians on-the-fly.
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@gavanderhoorn
gavanderhoorn committed Aug 18, 2020
1 parent 8e5cc30 commit 50269d1
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Showing 7 changed files with 126 additions and 126 deletions.
36 changes: 18 additions & 18 deletions ur_description/config/ur10/joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,19 +15,19 @@ joint_limits:
has_position_limits: true
has_velocity_limits: true
max_effort: 330.0
max_position: 6.28318530718
max_velocity: 2.0943951
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 120.0
min_position: !degrees -360.0
shoulder_lift:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 330.0
max_position: 6.28318530718
max_velocity: 2.0943951
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 120.0
min_position: !degrees -360.0
elbow_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
Expand All @@ -45,36 +45,36 @@ joint_limits:
#
# Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
# more information.
max_position: 3.14159265359
max_velocity: 3.14159265359
min_position: -3.14159265359
max_position: !degrees 180.0
max_velocity: !degrees 180.0
min_position: !degrees -180.0
wrist_1:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: 6.28318530718
max_velocity: 3.14159265359
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
wrist_2:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: 6.28318530718
max_velocity: 3.14159265359
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
wrist_3:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: 6.28318530718
max_velocity: 3.14159265359
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
36 changes: 18 additions & 18 deletions ur_description/config/ur10e/joint_limits.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -15,19 +15,19 @@ joint_limits:
has_position_limits: true
has_velocity_limits: true
max_effort: 330.0
max_position: 6.28318530718
max_velocity: 2.0943951
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 120.0
min_position: !degrees -360.0
shoulder_lift:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 330.0
max_position: 6.28318530718
max_velocity: 2.0943951
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 120.0
min_position: !degrees -360.0
elbow_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
Expand All @@ -45,36 +45,36 @@ joint_limits:
#
# Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
# more information.
max_position: 3.14159265359
max_velocity: 3.14159265359
min_position: -3.14159265359
max_position: !degrees 180.0
max_velocity: !degrees 180.0
min_position: !degrees -180.0
wrist_1:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: 6.28318530718
max_velocity: 3.14159265359
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
wrist_2:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: 6.28318530718
max_velocity: 3.14159265359
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
wrist_3:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: 6.28318530718
max_velocity: 3.14159265359
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
36 changes: 18 additions & 18 deletions ur_description/config/ur16e/joint_limits.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -15,19 +15,19 @@ joint_limits:
has_position_limits: true
has_velocity_limits: true
max_effort: 330.0
max_position: 6.28318530718
max_velocity: 2.0943951
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 120.0
min_position: !degrees -360.0
shoulder_lift:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 330.0
max_position: 6.28318530718
max_velocity: 2.0943951
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 120.0
min_position: !degrees -360.0
elbow_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
Expand All @@ -45,36 +45,36 @@ joint_limits:
#
# Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
# more information.
max_position: 3.14159265359
max_velocity: 3.14159265359
min_position: -3.14159265359
max_position: !degrees 180.0
max_velocity: !degrees 180.0
min_position: !degrees -180.0
wrist_1:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: 6.28318530718
max_velocity: 3.14159265359
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
wrist_2:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: 6.28318530718
max_velocity: 3.14159265359
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
wrist_3:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: 6.28318530718
max_velocity: 3.14159265359
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
36 changes: 18 additions & 18 deletions ur_description/config/ur3/joint_limits.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -15,19 +15,19 @@ joint_limits:
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: 6.28318530718
max_velocity: 3.14159265359
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
shoulder_lift:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: 6.28318530718
max_velocity: 3.14159265359
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
elbow_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
Expand All @@ -45,36 +45,36 @@ joint_limits:
#
# Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
# more information.
max_position: 3.14159265359
max_velocity: 3.14159265359
min_position: -3.14159265359
max_position: !degrees 180.0
max_velocity: !degrees 180.0
min_position: !degrees -180.0
wrist_1:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 12.0
max_position: 6.28318530718
max_velocity: 6.28318530718
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 360.0
min_position: !degrees -360.0
wrist_2:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 12.0
max_position: 6.28318530718
max_velocity: 6.28318530718
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 360.0
min_position: !degrees -360.0
wrist_3:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 12.0
max_position: 6.28318530718
max_velocity: 6.28318530718
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 360.0
min_position: !degrees -360.0
36 changes: 18 additions & 18 deletions ur_description/config/ur3e/joint_limits.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -15,19 +15,19 @@ joint_limits:
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: 6.28318530718
max_velocity: 3.14159265359
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
shoulder_lift:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_position: 6.28318530718
max_velocity: 3.14159265359
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
elbow_joint:
# acceleration limits are not publicly available
has_acceleration_limits: false
Expand All @@ -45,36 +45,36 @@ joint_limits:
#
# Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
# more information.
max_position: 3.14159265359
max_velocity: 3.14159265359
min_position: -3.14159265359
max_position: !degrees 180.0
max_velocity: !degrees 180.0
min_position: !degrees -180.0
wrist_1:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 12.0
max_position: 6.28318530718
max_velocity: 6.28318530718
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 360.0
min_position: !degrees -360.0
wrist_2:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 12.0
max_position: 6.28318530718
max_velocity: 6.28318530718
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 360.0
min_position: !degrees -360.0
wrist_3:
# acceleration limits are not publicly available
has_acceleration_limits: false
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 12.0
max_position: 6.28318530718
max_velocity: 6.28318530718
min_position: -6.28318530718
max_position: !degrees 360.0
max_velocity: !degrees 360.0
min_position: !degrees -360.0
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