From af0f9a36e1536c95a14bf0c1627434c306070c9f Mon Sep 17 00:00:00 2001
From: Aron Svastits <svastits1@gmail.com>
Date: Mon, 4 Sep 2023 15:04:12 +0200
Subject: [PATCH] effort limits

---
 kuka_quantec_support/urdf/kr210_r2700-2_macro.xacro | 12 ++++++------
 kuka_quantec_support/urdf/kr210_r3100-2_macro.xacro | 12 ++++++------
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/kuka_quantec_support/urdf/kr210_r2700-2_macro.xacro b/kuka_quantec_support/urdf/kr210_r2700-2_macro.xacro
index 14c21aa..f1691f3 100644
--- a/kuka_quantec_support/urdf/kr210_r2700-2_macro.xacro
+++ b/kuka_quantec_support/urdf/kr210_r2700-2_macro.xacro
@@ -154,42 +154,42 @@
     <joint name="${prefix}joint_a1" type="revolute">
       <axis xyz="0.0 0.0 1.0"/>
       <child link="${prefix}link_1"/>
-      <limit effort="0" lower="-3.2288591161895095E0" upper="3.2288591161895095E0" velocity="${radians(120)}"/>
+      <limit effort="7290" lower="-3.2288591161895095E0" upper="3.2288591161895095E0" velocity="${radians(120)}"/>
       <origin rpy="-3.141592653589793 0.0 -0.0" xyz="0.0 0.0 0.0"/>
       <parent link="${prefix}base_link_inertia"/>
     </joint>
     <joint name="${prefix}joint_a2" type="revolute">
       <axis xyz="0.0 0.0 1.0"/>
       <child link="${prefix}link_2"/>
-      <limit effort="0" lower="-2.443460952792061E0" upper="-8.726646259971647E-2" velocity="${radians(115)}"/>
+      <limit effort="8910" lower="-2.443460952792061E0" upper="-8.726646259971647E-2" velocity="${radians(115)}"/>
       <origin rpy="1.5707963267948963 0.0 -0.0" xyz="0.33 0.0 -0.645"/>
       <parent link="${prefix}link_1"/>
     </joint>
     <joint name="${prefix}joint_a3" type="revolute">
       <axis xyz="0.0 0.0 1.0"/>
       <child link="${prefix}link_3"/>
-      <limit effort="0" lower="-2.0943951023931953E0" upper="2.9321531433504737E0" velocity="${radians(112)}"/>
+      <limit effort="6988.84717" lower="-2.0943951023931953E0" upper="2.9321531433504737E0" velocity="${radians(112)}"/>
       <origin rpy="0.0 0.0 -1.5707963267948963" xyz="1.15 0.0 0.0"/>
       <parent link="${prefix}link_2"/>
     </joint>
     <joint name="${prefix}joint_a4" type="revolute">
       <axis xyz="0.0 0.0 1.0"/>
       <child link="${prefix}link_4"/>
-      <limit effort="0" lower="-6.1086523819801535E0" upper="6.1086523819801535E0" velocity="${radians(179)}"/>
+      <limit effort="2274.29199" lower="-6.1086523819801535E0" upper="6.1086523819801535E0" velocity="${radians(179)}"/>
       <origin rpy="1.5707963267948963 0.0 -0.0" xyz="0.115 0.0 0.0"/>
       <parent link="${prefix}link_3"/>
     </joint>
     <joint name="${prefix}joint_a5" type="revolute">
       <axis xyz="0.0 0.0 1.0"/>
       <child link="${prefix}link_5"/>
-      <limit effort="0" lower="-2.181661564992912E0" upper="2.181661564992912E0" velocity="${radians(172)}"/>
+      <limit effort="1398.30298" lower="-2.181661564992912E0" upper="2.181661564992912E0" velocity="${radians(172)}"/>
       <origin rpy="-1.5707963267948963 0.0 -0.0" xyz="0.0 0.0 -1.22"/>
       <parent link="${prefix}link_4"/>
     </joint>
     <joint name="${prefix}joint_a6" type="revolute">
       <axis xyz="0.0 0.0 1.0"/>
       <child link="${prefix}link_6"/>
-      <limit effort="0" lower="-6.1086523819801535E0" upper="6.1086523819801535E0" velocity="${radians(220)}"/>
+      <limit effort="781.554626" lower="-6.1086523819801535E0" upper="6.1086523819801535E0" velocity="${radians(220)}"/>
       <origin rpy="1.5707963267948963 0.0 -0.0" xyz="0.0 0.0 0.0"/>
       <parent link="${prefix}link_5"/>
     </joint>
diff --git a/kuka_quantec_support/urdf/kr210_r3100-2_macro.xacro b/kuka_quantec_support/urdf/kr210_r3100-2_macro.xacro
index 5a98ffa..b5d0f23 100644
--- a/kuka_quantec_support/urdf/kr210_r3100-2_macro.xacro
+++ b/kuka_quantec_support/urdf/kr210_r3100-2_macro.xacro
@@ -155,42 +155,42 @@
     <joint name="${prefix}joint_a1" type="revolute">
       <axis xyz="0.0 0.0 1.0"/>
       <child link="${prefix}link_1"/>
-      <limit effort="0" lower="-3.2288591161895095E0" upper="3.2288591161895095E0" velocity="${radians(105)}"/>
+      <limit effort="7290" lower="-3.2288591161895095E0" upper="3.2288591161895095E0" velocity="${radians(105)}"/>
       <origin rpy="-3.141592653589793 0.0 -0.0" xyz="0.0 0.0 0.0"/>
       <parent link="${prefix}base_link_inertia"/>
     </joint>
     <joint name="${prefix}joint_a2" type="revolute">
       <axis xyz="0.0 0.0 1.0"/>
       <child link="${prefix}link_2"/>
-      <limit effort="0" lower="-2.443460952792061E0" upper="-8.726646259971647E-2" velocity="${radians(94)}"/>
+      <limit effort="8910" lower="-2.443460952792061E0" upper="-8.726646259971647E-2" velocity="${radians(94)}"/>
       <origin rpy="1.5707963267948963 0.0 -0.0" xyz="0.33 0.0 -0.645"/>
       <parent link="${prefix}link_1"/>
     </joint>
     <joint name="${prefix}joint_a3" type="revolute">
       <axis xyz="0.0 0.0 1.0"/>
       <child link="${prefix}link_3"/>
-      <limit effort="0" lower="-2.0943951023931953E0" upper="2.9321531433504737E0" velocity="${radians(100)}"/>
+      <limit effort="7251.2876" lower="-2.0943951023931953E0" upper="2.9321531433504737E0" velocity="${radians(100)}"/>
       <origin rpy="0.0 0.0 -1.5707963267948963" xyz="1.35 0.0 0.0"/>
       <parent link="${prefix}link_2"/>
     </joint>
     <joint name="${prefix}joint_a4" type="revolute">
       <axis xyz="0.0 0.0 1.0"/>
       <child link="${prefix}link_4"/>
-      <limit effort="0" lower="-6.1086523819801535E0" upper="6.1086523819801535E0" velocity="${radians(136)}"/>
+      <limit effort="2356.12598" lower="-6.1086523819801535E0" upper="6.1086523819801535E0" velocity="${radians(136)}"/>
       <origin rpy="1.5707963267948963 0.0 -0.0" xyz="0.115 0.0 0.0"/>
       <parent link="${prefix}link_3"/>
     </joint>
     <joint name="${prefix}joint_a5" type="revolute">
       <axis xyz="0.0 0.0 1.0"/>
       <child link="${prefix}link_5"/>
-      <limit effort="0" lower="-2.138028333693054E0" upper="2.138028333693054E0" velocity="${radians(129)}"/>
+      <limit effort="2358.44531" lower="-2.138028333693054E0" upper="2.138028333693054E0" velocity="${radians(129)}"/>
       <origin rpy="-1.5707963267948963 0.0 -0.0" xyz="0.0 0.0 -1.42"/>
       <parent link="${prefix}link_4"/>
     </joint>
     <joint name="${prefix}joint_a6" type="revolute">
       <axis xyz="0.0 0.0 1.0"/>
       <child link="${prefix}link_6"/>
-      <limit effort="0" lower="-6.1086523819801535E0" upper="6.1086523819801535E0" velocity="${radians(206)}"/>
+      <limit effort="1508.75476" lower="-6.1086523819801535E0" upper="6.1086523819801535E0" velocity="${radians(206)}"/>
       <origin rpy="1.5707963267948963 0.0 -0.0" xyz="0.0 0.0 0.0"/>
       <parent link="${prefix}link_5"/>
     </joint>