joint limit yaml vel

kroshu · Sep 4, 2023 · 8e58022 · 8e58022
1 parent af0f9a3
commit 8e58022
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Showing 2 changed files with 24 additions and 12 deletions.
diff --git a/kuka_quantec_support/config/kr210_r2700-2_joint_limits.yaml b/kuka_quantec_support/config/kr210_r2700-2_joint_limits.yaml
@@ -10,26 +10,32 @@ default_velocity_scaling_factor: 1.0
 default_acceleration_scaling_factor: 1.0
 joint_limits:
   joint_a1:
-    has_velocity_limits: false
+    has_velocity_limits: true
+    max_velocity: 2.0944
     has_acceleration_limits: false
     has_jerk: false
   joint_a2:
-    has_velocity_limits: false
+    has_velocity_limits: true
+    max_velocity: 2.0071
     has_acceleration_limits: false
     has_jerk: false
   joint_a3:
-    has_velocity_limits: false
+    has_velocity_limits: true
+    max_velocity: 1.9548
     has_acceleration_limits: false
     has_jerk: false
   joint_a4:
-    has_velocity_limits: false
+    has_velocity_limits: true
+    max_velocity: 3.1241
     has_acceleration_limits: false
     has_jerk: false
   joint_a5:
-    has_velocity_limits: false
+    has_velocity_limits: true
+    max_velocity: 3.0000
     has_acceleration_limits: false
     has_jerk: false
   joint_a6:
-    has_velocity_limits: false
+    has_velocity_limits: true
+    max_velocity: 3.8397
     has_acceleration_limits: false
     has_jerk: false
diff --git a/kuka_quantec_support/config/kr210_r3100-2_joint_limits.yaml b/kuka_quantec_support/config/kr210_r3100-2_joint_limits.yaml
@@ -10,26 +10,32 @@ default_velocity_scaling_factor: 1.0
 default_acceleration_scaling_factor: 1.0
 joint_limits:
   joint_a1:
-    has_velocity_limits: false
+    has_velocity_limits: true
+    max_velocity: 1.8326
     has_acceleration_limits: false
     has_jerk: false
   joint_a2:
-    has_velocity_limits: false
+    has_velocity_limits: true
+    max_velocity: 1.6406
     has_acceleration_limits: false
     has_jerk: false
   joint_a3:
-    has_velocity_limits: false
+    has_velocity_limits: true
+    max_velocity: 1.7453
     has_acceleration_limits: false
     has_jerk: false
   joint_a4:
-    has_velocity_limits: false
+    has_velocity_limits: true
+    max_velocity: 2.3726
     has_acceleration_limits: false
     has_jerk: false
   joint_a5:
-    has_velocity_limits: false
+    has_velocity_limits: true
+    max_velocity: 2.2460
     has_acceleration_limits: false
     has_jerk: false
   joint_a6:
-    has_velocity_limits: false
+    has_velocity_limits: true
+    max_velocity: 3.5933
     has_acceleration_limits: false
     has_jerk: false