ada_ros2/ada_moveit/config/joint_limits.yaml at 219f0ffada14b20545b431d606abc8f72578a320 · personalrobotics/ada_ros2 · GitHub

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# Copyright (c) 2024-2025, Personal Robotics Laboratory
# License: BSD 3-Clause. See LICENSE.md file in root directory.

# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed

# For beginners, we downscale velocity and acceleration limits.
# 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.
default_velocity_scaling_factor: 0.1
default_acceleration_scaling_factor: 0.1

# 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]
joint_limits:
  j2n6s200_joint_1:
    has_velocity_limits: true
    max_velocity: 0.62831853071795862
    has_acceleration_limits: false
    max_acceleration: 0
  j2n6s200_joint_2:
    has_velocity_limits: true
    max_velocity: 0.62831853071795862
    has_acceleration_limits: false
    max_acceleration: 0
  j2n6s200_joint_3:
    has_velocity_limits: true
    max_velocity: 0.62831853071795862
    has_acceleration_limits: false
    max_acceleration: 0
  j2n6s200_joint_4:
    has_velocity_limits: true
    max_velocity: 0.83775804095727813
    has_acceleration_limits: false
    max_acceleration: 0
  j2n6s200_joint_5:
    has_velocity_limits: true
    max_velocity: 0.83775804095727813
    has_acceleration_limits: false
    max_acceleration: 0
  j2n6s200_joint_6:
    has_velocity_limits: true
    max_velocity: 0.83775804095727813
    has_acceleration_limits: false
    max_acceleration: 0
  j2n6s200_joint_finger_1:
    has_velocity_limits: true
    max_velocity: 1.0
    has_acceleration_limits: false
    max_acceleration: 0
  j2n6s200_joint_finger_2:
    has_velocity_limits: true
    max_velocity: 1.0
    has_acceleration_limits: false
    max_acceleration: 0
  af_joint_1:
    has_velocity_limits: true
    max_velocity: 0.83775804095727813
    has_acceleration_limits: false
    max_acceleration: 0
  af_joint_2:
    has_velocity_limits: true
    max_velocity: 0.83775804095727813
    has_acceleration_limits: false
    max_acceleration: 0