UR5e velocity limits in the URDF

[Le-Li-AgileRobots]

Hi guys,

we were using UR5e robots and found something confusing.

The velocity limits of the last three joints are set to 6.28 (rad/s), see

universal_robot/ur_e_description/urdf/ur5e.urdf.xacro

Line 238 in 06d8b9e

<limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="28.0" velocity="6.28"/>

,

while the velocity limits specified in the user manual are 3.14 (rad/s), see the manual: https://s3-eu-west-1.amazonaws.com/ur-support-site/77147/99404_UR5e_User_Manual_en_Global.pdf

Could you guys please double-check which value is the correct one?

Many thanks.

Le Li

[gavanderhoorn]

This has already been corrected in melodic-devel-staging. Please see #513.

[gavanderhoorn]

And the follow-up #533, which uses degrees/sec for the velocity limits. Even easier to check.

[gavanderhoorn]

Assuming this answers the question, I'm going to close the issue.

Feel free to keep commenting of course.

[Le-Li-AgileRobots]

Assuming this answers the question, I'm going to close the issue.

Feel free to keep commenting of course.

Yes, it answered our question.

Maybe one more comments regarding the moveit config file for UR5e in the melodic-devel-staging branch, see:

universal_robot/ur5_e_moveit_config/config/joint_limits.yaml

Line 22 in e823431

max_velocity: 6.28

,
it seems it has not been updated with the velocity limits PI.

Best,
Le Li

[gavanderhoorn]

Yes, we are aware of this.

With #516, we won't be using different files for these limits any more. So that will go away as well.