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description: spec limits in deg and deg/s.
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Use the xacro radians(..) function to convert to rad and rad/s.
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@gavanderhoorn
gavanderhoorn committed Jun 16, 2020
1 parent 8f7c90d commit 56fab86
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Showing 8 changed files with 143 additions and 143 deletions.
36 changes: 18 additions & 18 deletions ur_description/config/ur10/joints_limits_parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,14 +9,14 @@
# retrieved: 2020-06-16, last modified: 2020-06-09
limits:
shoulder_pan:
lower: -6.28318530718
upper: 6.28318530718
velocity: 2.0943951
lower: -360.0
upper: 360.0
velocity: 120.0
effort: 330.0
shoulder_lift:
lower: -6.28318530718
upper: 6.28318530718
velocity: 2.0943951
lower: -360.0
upper: 360.0
velocity: 120.0
effort: 330.0
elbow_joint:
# we artificially limit this joint to half it's actual joint limit to avoid
Expand All @@ -29,22 +29,22 @@ limits:
#
# Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
# more information.
lower: -3.14159265359
upper: 3.14159265359
velocity: 3.14159265359
lower: -180.0
upper: 180.0
velocity: 180.0
effort: 150.0
wrist_1:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 56.0
wrist_2:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 56.0
wrist_3:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 56.0
36 changes: 18 additions & 18 deletions ur_description/config/ur10e/joints_limits_parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,14 +9,14 @@
# retrieved: 2020-06-16, last modified: 2020-06-09
limits:
shoulder_pan:
lower: -6.28318530718
upper: 6.28318530718
velocity: 2.0943951
lower: -360.0
upper: 360.0
velocity: 120.0
effort: 330.0
shoulder_lift:
lower: -6.28318530718
upper: 6.28318530718
velocity: 2.0943951
lower: -360.0
upper: 360.0
velocity: 120.0
effort: 330.0
elbow_joint:
# we artificially limit this joint to half it's actual joint limit to avoid
Expand All @@ -29,22 +29,22 @@ limits:
#
# Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
# more information.
lower: -3.14159265359
upper: 3.14159265359
velocity: 3.14159265359
lower: -180.0
upper: 180.0
velocity: 180.0
effort: 150.0
wrist_1:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 56.0
wrist_2:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 56.0
wrist_3:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 56.0
36 changes: 18 additions & 18 deletions ur_description/config/ur16e/joints_limits_parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,14 +9,14 @@
# retrieved: 2020-06-16, last modified: 2020-06-09
limits:
shoulder_pan:
lower: -6.28318530718
upper: 6.28318530718
velocity: 2.0943951
lower: -360.0
upper: 360.0
velocity: 120.0
effort: 330.0
shoulder_lift:
lower: -6.28318530718
upper: 6.28318530718
velocity: 2.0943951
lower: -360.0
upper: 360.0
velocity: 120.0
effort: 330.0
elbow_joint:
# we artificially limit this joint to half it's actual joint limit to avoid
Expand All @@ -29,22 +29,22 @@ limits:
#
# Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
# more information.
lower: -3.14159265359
upper: 3.14159265359
velocity: 3.14159265359
lower: -180.0
upper: 180.0
velocity: 180.0
effort: 150.0
wrist_1:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 56.0
wrist_2:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 56.0
wrist_3:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 56.0
36 changes: 18 additions & 18 deletions ur_description/config/ur3/joints_limits_parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,14 +9,14 @@
# retrieved: 2020-06-16, last modified: 2020-06-09
limits:
shoulder_pan:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 56.0
shoulder_lift:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 56.0
elbow_joint:
# we artificially limit this joint to half it's actual joint limit to avoid
Expand All @@ -29,22 +29,22 @@ limits:
#
# Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
# more information.
lower: -3.14159265359
upper: 3.14159265359
velocity: 3.14159265359
lower: -180.0
upper: 180.0
velocity: 180.0
effort: 28.0
wrist_1:
lower: -6.28318530718
upper: 6.28318530718
velocity: 6.28318530718
lower: -360.0
upper: 360.0
velocity: 360.0
effort: 12.0
wrist_2:
lower: -6.28318530718
upper: 6.28318530718
velocity: 6.28318530718
lower: -360.0
upper: 360.0
velocity: 360.0
effort: 12.0
wrist_3:
lower: -6.28318530718
upper: 6.28318530718
velocity: 6.28318530718
lower: -360.0
upper: 360.0
velocity: 360.0
effort: 12.0
36 changes: 18 additions & 18 deletions ur_description/config/ur3e/joints_limits_parameters.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,14 +9,14 @@
# retrieved: 2020-06-16, last modified: 2020-06-09
limits:
shoulder_pan:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 56.0
shoulder_lift:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 56.0
elbow_joint:
# we artificially limit this joint to half it's actual joint limit to avoid
Expand All @@ -29,22 +29,22 @@ limits:
#
# Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
# more information.
lower: -3.14159265359
upper: 3.14159265359
velocity: 3.14159265359
lower: -180.0
upper: 180.0
velocity: 180.0
effort: 28.0
wrist_1:
lower: -6.28318530718
upper: 6.28318530718
velocity: 6.28318530718
lower: -360.0
upper: 360.0
velocity: 360.0
effort: 12.0
wrist_2:
lower: -6.28318530718
upper: 6.28318530718
velocity: 6.28318530718
lower: -360.0
upper: 360.0
velocity: 360.0
effort: 12.0
wrist_3:
lower: -6.28318530718
upper: 6.28318530718
velocity: 6.28318530718
lower: -360.0
upper: 360.0
velocity: 360.0
effort: 12.0
36 changes: 18 additions & 18 deletions ur_description/config/ur5/joints_limits_parameters.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,14 +9,14 @@
# retrieved: 2020-06-16, last modified: 2020-06-09
limits:
shoulder_pan:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 150.0
shoulder_lift:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 150.0
elbow_joint:
# we artificially limit this joint to half it's actual joint limit to avoid
Expand All @@ -29,22 +29,22 @@ limits:
#
# Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
# more information.
lower: -3.14159265359
upper: 3.14159265359
velocity: 3.14159265359
lower: -180.0
upper: 180.0
velocity: 180.0
effort: 150.0
wrist_1:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 28.0
wrist_2:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 28.0
wrist_3:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 28.0
36 changes: 18 additions & 18 deletions ur_description/config/ur5e/joints_limits_parameters.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,14 +9,14 @@
# retrieved: 2020-06-16, last modified: 2020-06-09
limits:
shoulder_pan:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 150.0
shoulder_lift:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 150.0
elbow_joint:
# we artificially limit this joint to half it's actual joint limit to avoid
Expand All @@ -29,22 +29,22 @@ limits:
#
# Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
# more information.
lower: -3.14159265359
upper: 3.14159265359
velocity: 3.14159265359
lower: -180.0
upper: 180.0
velocity: 180.0
effort: 150.0
wrist_1:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 28.0
wrist_2:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 28.0
wrist_3:
lower: -6.28318530718
upper: 6.28318530718
velocity: 3.14159265359
lower: -360.0
upper: 360.0
velocity: 180.0
effort: 28.0
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