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joint_limits.yaml 1.15 KiB
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Adding in moveit config for the ur5
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joint_limits:
  shoulder_pan_joint:
    has_position_limits: true
    has_velocity_limits: true
    max_velocity: 3.14159265
    has_acceleration_limits: true
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    max_acceleration: 3
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    angle_wraparound: false
  shoulder_lift_joint:
    has_position_limits: true
    has_velocity_limits: true
    max_velocity: 3.14159265
    has_acceleration_limits: true
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    max_acceleration: 3
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    angle_wraparound: false
  elbow_joint:
    has_position_limits: true
    has_velocity_limits: true
    max_velocity: 3.14159265
    has_acceleration_limits: true
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    max_acceleration: 3
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    angle_wraparound: false
  wrist_1_joint:
    has_position_limits: true
    has_velocity_limits: true
    max_velocity: 3.14159265
    has_acceleration_limits: true
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    max_acceleration: 3
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    angle_wraparound: false
  wrist_2_joint:
    has_position_limits: true
    has_velocity_limits: true
    max_velocity: 3.14159265
    has_acceleration_limits: true
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    max_acceleration: 3
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    angle_wraparound: false
  wrist_3_joint:
    has_position_limits: true
    has_velocity_limits: true
    max_velocity: 3.14159265
    has_acceleration_limits: true
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    max_acceleration: 3
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Adding in moveit config for the ur5
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    angle_wraparound: false