description: correct joint limits for all supported variants.

Based on values from the User Manuals.
ros-industrial · Jun 16, 2020 · 8f7c90d · 8f7c90d
1 parent c39d286
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diff --git a/ur_description/config/ur10/joints_limits_parameters.yaml b/ur_description/config/ur10/joints_limits_parameters.yaml
@@ -1,14 +1,22 @@
 # Joints limits
+#
+# Sources:
+#
+#  - UR10 User Manual, Universal Robots, UR10/CB3, Version 3.13
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69442/99203_UR10_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
 limits:
   shoulder_pan:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 2.16
+    velocity: 2.0943951
     effort: 330.0
   shoulder_lift:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 2.16
+    velocity: 2.0943951
     effort: 330.0
   elbow_joint:
     # we artificially limit this joint to half it's actual joint limit to avoid
@@ -23,20 +31,20 @@ limits:
     # more information.
     lower: -3.14159265359
     upper: 3.14159265359
-    velocity: 3.15
+    velocity: 3.14159265359
     effort: 150.0
   wrist_1:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 3.14159265359
+    effort: 56.0
   wrist_2:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 3.14159265359
+    effort: 56.0
   wrist_3:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 3.14159265359
+    effort: 56.0
diff --git a/ur_description/config/ur10e/joints_limits_parameters.yaml b/ur_description/config/ur10e/joints_limits_parameters.yaml
@@ -1,14 +1,22 @@
 # Joints limits
+#
+# Sources:
+#
+#  - Universal Robots e-Series, User Manual, UR10e, Version 5.8
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69139/99405_UR10e_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
 limits:
   shoulder_pan:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 2.16
+    velocity: 2.0943951
     effort: 330.0
   shoulder_lift:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 2.16
+    velocity: 2.0943951
     effort: 330.0
   elbow_joint:
     # we artificially limit this joint to half it's actual joint limit to avoid
@@ -23,20 +31,20 @@ limits:
     # more information.
     lower: -3.14159265359
     upper: 3.14159265359
-    velocity: 3.15
+    velocity: 3.14159265359
     effort: 150.0
   wrist_1:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 3.14159265359
+    effort: 56.0
   wrist_2:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 3.14159265359
+    effort: 56.0
   wrist_3:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 3.14159265359
+    effort: 56.0
diff --git a/ur_description/config/ur16e/joints_limits_parameters.yaml b/ur_description/config/ur16e/joints_limits_parameters.yaml
@@ -1,16 +1,22 @@
 # Joints limits
-# According to https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/max-joint-torques-17260/
-#          and ur16e fact sheet (e.g. https://cdn2.hubspot.net/hubfs/4316198/1_VENDOR-LITERATURE/Universal%20Robots/UR16e/UR16e_Fact%20Sheet_(2sided).pdf)
+#
+# Sources:
+#
+#  - Universal Robots e-Series, User Manual, UR16e, Version 5.8
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69187/99473_UR16e_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
 limits:
   shoulder_pan:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 2.094
+    velocity: 2.0943951
     effort: 330.0
   shoulder_lift:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 2.094
+    velocity: 2.0943951
     effort: 330.0
   elbow_joint:
     # we artificially limit this joint to half it's actual joint limit to avoid
@@ -25,20 +31,20 @@ limits:
     # more information.
     lower: -3.14159265359
     upper: 3.14159265359
-    velocity: 3.141
+    velocity: 3.14159265359
     effort: 150.0
   wrist_1:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.141
+    velocity: 3.14159265359
     effort: 56.0
   wrist_2:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.141
+    velocity: 3.14159265359
     effort: 56.0
   wrist_3:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.141
+    velocity: 3.14159265359
     effort: 56.0
diff --git a/ur_description/config/ur3/joints_limits_parameters.yaml b/ur_description/config/ur3/joints_limits_parameters.yaml
@@ -1,16 +1,23 @@
 # Joints limits
-
+#
+# Sources:
+#
+#  - UR3 User Manual, Universal Robots, UR3/CB3, Version 3.13
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69300/99241_UR3_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
 limits:
   shoulder_pan:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 2.16
-    effort: 330.0
+    velocity: 3.14159265359
+    effort: 56.0
   shoulder_lift:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 2.16
-    effort: 330.0
+    velocity: 3.14159265359
+    effort: 56.0
   elbow_joint:
     # we artificially limit this joint to half it's actual joint limit to avoid
     # (MoveIt/OMPL) planning problems, as due to the physical construction of
@@ -24,20 +31,20 @@ limits:
     # more information.
     lower: -3.14159265359
     upper: 3.14159265359
-    velocity: 3.15
-    effort: 150.0
+    velocity: 3.14159265359
+    effort: 28.0
   wrist_1:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 6.28318530718
+    effort: 12.0
   wrist_2:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 6.28318530718
+    effort: 12.0
   wrist_3:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 6.28318530718
+    effort: 12.0
diff --git a/ur_description/config/ur3e/joints_limits_parameters.yaml b/ur_description/config/ur3e/joints_limits_parameters.yaml
@@ -1,16 +1,23 @@
 # Joints limits
-
+#
+# Sources:
+#
+#  - Universal Robots e-Series, User Manual, UR3e, Version 5.8
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69043/99403_UR3e_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
 limits:
   shoulder_pan:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 2.16
-    effort: 330.0
+    velocity: 3.14159265359
+    effort: 56.0
   shoulder_lift:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 2.16
-    effort: 330.0
+    velocity: 3.14159265359
+    effort: 56.0
   elbow_joint:
     # we artificially limit this joint to half it's actual joint limit to avoid
     # (MoveIt/OMPL) planning problems, as due to the physical construction of
@@ -24,20 +31,20 @@ limits:
     # more information.
     lower: -3.14159265359
     upper: 3.14159265359
-    velocity: 3.15
-    effort: 150.0
+    velocity: 3.14159265359
+    effort: 28.0
   wrist_1:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 6.28318530718
+    effort: 12.0
   wrist_2:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 6.28318530718
+    effort: 12.0
   wrist_3:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 6.28318530718
+    effort: 12.0
diff --git a/ur_description/config/ur5/joints_limits_parameters.yaml b/ur_description/config/ur5/joints_limits_parameters.yaml
@@ -1,16 +1,23 @@
 # Joints limits
-
+#
+# Sources:
+#
+#  - UR5 User Manual, Universal Robots, UR5/CB3, Version 3.13
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69371/99202_UR5_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
 limits:
   shoulder_pan:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 2.16
-    effort: 330.0
+    velocity: 3.14159265359
+    effort: 150.0
   shoulder_lift:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 2.16
-    effort: 330.0
+    velocity: 3.14159265359
+    effort: 150.0
   elbow_joint:
     # we artificially limit this joint to half it's actual joint limit to avoid
     # (MoveIt/OMPL) planning problems, as due to the physical construction of
@@ -24,20 +31,20 @@ limits:
     # more information.
     lower: -3.14159265359
     upper: 3.14159265359
-    velocity: 3.15
+    velocity: 3.14159265359
     effort: 150.0
   wrist_1:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 3.14159265359
+    effort: 28.0
   wrist_2:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 3.14159265359
+    effort: 28.0
   wrist_3:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 3.14159265359
+    effort: 28.0
diff --git a/ur_description/config/ur5e/joints_limits_parameters.yaml b/ur_description/config/ur5e/joints_limits_parameters.yaml
@@ -1,16 +1,23 @@
 # Joints limits
-
+#
+# Sources:
+#
+#  - Universal Robots e-Series, User Manual, UR5e, Version 5.8
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69091/99404_UR5e_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
 limits:
   shoulder_pan:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 2.16
-    effort: 330.0
+    velocity: 3.14159265359
+    effort: 150.0
   shoulder_lift:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 2.16
-    effort: 330.0
+    velocity: 3.14159265359
+    effort: 150.0
   elbow_joint:
     # we artificially limit this joint to half it's actual joint limit to avoid
     # (MoveIt/OMPL) planning problems, as due to the physical construction of
@@ -24,20 +31,20 @@ limits:
     # more information.
     lower: -3.14159265359
     upper: 3.14159265359
-    velocity: 3.15
+    velocity: 3.14159265359
     effort: 150.0
   wrist_1:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 3.14159265359
+    effort: 28.0
   wrist_2:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 3.14159265359
+    effort: 28.0
   wrist_3:
     lower: -6.28318530718
     upper: 6.28318530718
-    velocity: 3.2
-    effort: 54.0
+    velocity: 3.14159265359
+    effort: 28.0