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45 lines
No EOL
1.5 KiB
YAML
45 lines
No EOL
1.5 KiB
YAML
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
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# For beginners, we downscale velocity and acceleration limits.
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# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
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default_velocity_scaling_factor: 0.1
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default_acceleration_scaling_factor: 0.1
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# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
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# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
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joint_limits:
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joint1_to_base:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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joint2_to_joint1:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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joint3_to_joint2:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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joint4_to_joint3:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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joint5_to_joint4:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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joint6_to_joint5:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0
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joint7_to_joint6:
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has_velocity_limits: false
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max_velocity: 0
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has_acceleration_limits: false
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max_acceleration: 0 |