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added joint acceleration limits for all robots except for the iiwa
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@PetoAdam
PetoAdam committed Aug 28, 2024
1 parent c674701 commit af89f17
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Showing 9 changed files with 104 additions and 56 deletions.
18 changes: 12 additions & 6 deletions kuka_agilus_support/config/kr10_r1100_2_joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,30 +9,36 @@ joint_limits:
joint_1:
has_velocity_limits: true
max_velocity: 5.23599
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 10.06528
has_jerk: false
joint_2:
has_velocity_limits: true
max_velocity: 3.926991
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 1.72508
has_jerk: false
joint_3:
has_velocity_limits: true
max_velocity: 5.75959
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 2.68644
has_jerk: false
joint_4:
has_velocity_limits: true
max_velocity: 6.28319
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 56.49428
has_jerk: false
joint_5:
has_velocity_limits: true
max_velocity: 6.28319
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 49.23361
has_jerk: false
joint_6:
has_velocity_limits: true
max_velocity: 7.55728
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 125.45374
has_jerk: false
18 changes: 12 additions & 6 deletions kuka_agilus_support/config/kr6_r700_sixx_joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,30 +9,36 @@ joint_limits:
joint_1:
has_velocity_limits: true
max_velocity: 6.283185
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 41.672910
has_jerk: false
joint_2:
has_velocity_limits: true
max_velocity: 5.23599
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 21.620884
has_jerk: false
joint_3:
has_velocity_limits: true
max_velocity: 6.283185
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 46.224233
has_jerk: false
joint_4:
has_velocity_limits: true
max_velocity: 6.64970
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 145.820923
has_jerk: false
joint_5:
has_velocity_limits: true
max_velocity: 6.77188
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 152.326213
has_jerk: false
joint_6:
has_velocity_limits: true
max_velocity: 10.73377
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 292.626544
has_jerk: false
18 changes: 12 additions & 6 deletions kuka_agilus_support/config/kr6_r900_sixx_joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,30 +9,36 @@ joint_limits:
joint_1:
has_velocity_limits: true
max_velocity: 6.283185
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 21.666156
has_jerk: false
joint_2:
has_velocity_limits: true
max_velocity: 5.23599
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 6.889457
has_jerk: false
joint_3:
has_velocity_limits: true
max_velocity: 6.283185
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 31.415926
has_jerk: false
joint_4:
has_velocity_limits: true
max_velocity: 6.64970
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 133.055688
has_jerk: false
joint_5:
has_velocity_limits: true
max_velocity: 6.77188
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 135.557707
has_jerk: false
joint_6:
has_velocity_limits: true
max_velocity: 10.73377
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 268.382564
has_jerk: false
20 changes: 13 additions & 7 deletions kuka_cybertech_support/config/kr16_r2010_2_joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,30 +12,36 @@ joint_limits:
joint_1:
has_velocity_limits: true
max_velocity: 3.490656
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 7.505672
has_jerk: false
joint_2:
has_velocity_limits: true
max_velocity: 3.05432
has_acceleration_limits: false
max_velocity: 2.994851
has_acceleration_limits: true
max_acceleration: 1.350277
has_jerk: false
joint_3:
has_velocity_limits: true
max_velocity: 3.31613
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 13.412379
has_jerk: false
joint_4:
has_velocity_limits: true
max_velocity: 7.50492
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 99.514484
has_jerk: false
joint_5:
has_velocity_limits: true
max_velocity: 7.50492
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 95.957307
has_jerk: false
joint_6:
has_velocity_limits: true
max_velocity: 10.99557
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 120.049850
has_jerk: false
18 changes: 12 additions & 6 deletions kuka_fortec_support/config/kr560_r3100_2_joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,30 +12,36 @@ joint_limits:
joint_1:
has_velocity_limits: true
max_velocity: 1.5708
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 1.1500
has_jerk: false
joint_2:
has_velocity_limits: true
max_velocity: 1.3962
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 0.9308
has_jerk: false
joint_3:
has_velocity_limits: true
max_velocity: 1.3090
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 1.5038
has_jerk: false
joint_4:
has_velocity_limits: true
max_velocity: 1.5708
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 1.5816
has_jerk: false
joint_5:
has_velocity_limits: true
max_velocity: 1.5708
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 1.6486
has_jerk: false
joint_6:
has_velocity_limits: true
max_velocity: 2.2689
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 2.1579
has_jerk: false
18 changes: 12 additions & 6 deletions kuka_iontec_support/config/kr70_r2100_joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,30 +12,36 @@ joint_limits:
joint_1:
has_velocity_limits: true
max_velocity: 3.1416
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 6.1985
has_jerk: false
joint_2:
has_velocity_limits: true
max_velocity: 2.7576
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 1.2580
has_jerk: false
joint_3:
has_velocity_limits: true
max_velocity: 2.7925
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 1.4709
has_jerk: false
joint_4:
has_velocity_limits: true
max_velocity: 4.01426
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 17.6323
has_jerk: false
joint_5:
has_velocity_limits: true
max_velocity: 4.01426
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 14.9965
has_jerk: false
joint_6:
has_velocity_limits: true
max_velocity: 5.58505
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 16.8623
has_jerk: false
2 changes: 1 addition & 1 deletion kuka_lbr_iisy_support/config/lbr_iisy3_r760_joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ joint_limits:
has_jerk: false
joint_6:
has_velocity_limits: true
max_velocity: 5.235983
max_velocity: 6.981317
has_acceleration_limits: true
max_acceleration: 112.291689
has_jerk: false
30 changes: 18 additions & 12 deletions kuka_quantec_support/config/kr210_r2700_2_joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,31 +11,37 @@ default_acceleration_scaling_factor: 1.0
joint_limits:
joint_1:
has_velocity_limits: true
max_velocity: 2.0944
has_acceleration_limits: false
max_velocity: 2.0384
has_acceleration_limits: true
max_acceleration: 1.98271
has_jerk: false
joint_2:
has_velocity_limits: true
max_velocity: 2.0071
has_acceleration_limits: false
max_velocity: 1.9451
has_acceleration_limits: true
max_acceleration: 1.26288
has_jerk: false
joint_3:
has_velocity_limits: true
max_velocity: 1.9548
has_acceleration_limits: false
max_velocity: 1.95476
has_acceleration_limits: true
max_acceleration: 2.56508
has_jerk: false
joint_4:
has_velocity_limits: true
max_velocity: 3.1241
has_acceleration_limits: false
max_velocity: 3.12413
has_acceleration_limits: true
max_acceleration: 7.03857
has_jerk: false
joint_5:
has_velocity_limits: true
max_velocity: 3.0000
has_acceleration_limits: false
max_velocity: 3.00196
has_acceleration_limits: true
max_acceleration: 1.76397
has_jerk: false
joint_6:
has_velocity_limits: true
max_velocity: 3.8397
has_acceleration_limits: false
max_velocity: 3.83972
has_acceleration_limits: true
max_acceleration: 1.87268
has_jerk: false
18 changes: 12 additions & 6 deletions kuka_quantec_support/config/kr210_r3100_2_joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,30 +12,36 @@ joint_limits:
joint_1:
has_velocity_limits: true
max_velocity: 1.8326
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 1.4647
has_jerk: false
joint_2:
has_velocity_limits: true
max_velocity: 1.6406
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 0.5173
has_jerk: false
joint_3:
has_velocity_limits: true
max_velocity: 1.7453
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 1.3139
has_jerk: false
joint_4:
has_velocity_limits: true
max_velocity: 2.3726
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 6.9234
has_jerk: false
joint_5:
has_velocity_limits: true
max_velocity: 2.2460
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 7.0213
has_jerk: false
joint_6:
has_velocity_limits: true
max_velocity: 3.5933
has_acceleration_limits: false
has_acceleration_limits: true
max_acceleration: 7.9141
has_jerk: false

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