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chalongrathchalongrath
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Update max_efforts (torque limits)
1 parent 0a663ee commit 9b63c35

5 files changed

Lines changed: 23 additions & 23 deletions

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‎config/ur10e/joint_limits.yaml‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -54,7 +54,7 @@ joint_limits:
5454
has_effort_limits: true
5555
has_position_limits: true
5656
has_velocity_limits: true
57-
max_effort: 56.0
57+
max_effort: 54.0
5858
max_position: !degrees 360.0
5959
max_velocity: !degrees 180.0
6060
min_position: !degrees -360.0
@@ -64,7 +64,7 @@ joint_limits:
6464
has_effort_limits: true
6565
has_position_limits: true
6666
has_velocity_limits: true
67-
max_effort: 56.0
67+
max_effort: 54.0
6868
max_position: !degrees 360.0
6969
max_velocity: !degrees 180.0
7070
min_position: !degrees -360.0
@@ -74,7 +74,7 @@ joint_limits:
7474
has_effort_limits: true
7575
has_position_limits: true
7676
has_velocity_limits: true
77-
max_effort: 56.0
77+
max_effort: 54.0
7878
max_position: !degrees 360.0
7979
max_velocity: !degrees 180.0
8080
min_position: !degrees -360.0

‎config/ur16e/joint_limits.yaml‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -54,7 +54,7 @@ joint_limits:
5454
has_effort_limits: true
5555
has_position_limits: true
5656
has_velocity_limits: true
57-
max_effort: 56.0
57+
max_effort: 54.0
5858
max_position: !degrees 360.0
5959
max_velocity: !degrees 180.0
6060
min_position: !degrees -360.0
@@ -64,7 +64,7 @@ joint_limits:
6464
has_effort_limits: true
6565
has_position_limits: true
6666
has_velocity_limits: true
67-
max_effort: 56.0
67+
max_effort: 54.0
6868
max_position: !degrees 360.0
6969
max_velocity: !degrees 180.0
7070
min_position: !degrees -360.0
@@ -74,7 +74,7 @@ joint_limits:
7474
has_effort_limits: true
7575
has_position_limits: true
7676
has_velocity_limits: true
77-
max_effort: 56.0
77+
max_effort: 54.0
7878
max_position: !degrees 360.0
7979
max_velocity: !degrees 180.0
8080
min_position: !degrees -360.0

‎config/ur20/joint_limits.yaml‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -11,7 +11,7 @@ joint_limits:
1111
has_effort_limits: true
1212
has_position_limits: true
1313
has_velocity_limits: true
14-
max_effort: 730.0
14+
max_effort: 738.0
1515
max_position: !degrees 360.0
1616
max_velocity: !degrees 120.0
1717
min_position: !degrees -360.0
@@ -21,7 +21,7 @@ joint_limits:
2121
has_effort_limits: true
2222
has_position_limits: true
2323
has_velocity_limits: true
24-
max_effort: 730.0
24+
max_effort: 738.0
2525
max_position: !degrees 360.0
2626
max_velocity: !degrees 120.0
2727
min_position: !degrees -360.0
@@ -31,7 +31,7 @@ joint_limits:
3131
has_effort_limits: true
3232
has_position_limits: true
3333
has_velocity_limits: true
34-
max_effort: 430.0
34+
max_effort: 433.0
3535
# we artificially limit this joint to half its actual joint position limit
3636
# to avoid (MoveIt/OMPL) planning problems, as due to the physical
3737
# construction of the robot, it's impossible to rotate the 'elbow_joint'
@@ -51,7 +51,7 @@ joint_limits:
5151
has_effort_limits: true
5252
has_position_limits: true
5353
has_velocity_limits: true
54-
max_effort: 100.0
54+
max_effort: 107.0
5555
max_position: !degrees 360.0
5656
max_velocity: !degrees 210.0
5757
min_position: !degrees -360.0
@@ -61,7 +61,7 @@ joint_limits:
6161
has_effort_limits: true
6262
has_position_limits: true
6363
has_velocity_limits: true
64-
max_effort: 100.0
64+
max_effort: 107.0
6565
max_position: !degrees 360.0
6666
max_velocity: !degrees 210.0
6767
min_position: !degrees -360.0
@@ -71,7 +71,7 @@ joint_limits:
7171
has_effort_limits: true
7272
has_position_limits: true
7373
has_velocity_limits: true
74-
max_effort: 100.0
74+
max_effort: 107.0
7575
max_position: !degrees 360.0
7676
max_velocity: !degrees 210.0
7777
min_position: !degrees -360.0

‎config/ur30/joint_limits.yaml‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -11,7 +11,7 @@ joint_limits:
1111
has_effort_limits: true
1212
has_position_limits: true
1313
has_velocity_limits: true
14-
max_effort: 730.0
14+
max_effort: 738.0
1515
max_position: !degrees 360.0
1616
max_velocity: !degrees 120.0
1717
min_position: !degrees -360.0
@@ -21,7 +21,7 @@ joint_limits:
2121
has_effort_limits: true
2222
has_position_limits: true
2323
has_velocity_limits: true
24-
max_effort: 730.0
24+
max_effort: 738.0
2525
max_position: !degrees 360.0
2626
max_velocity: !degrees 120.0
2727
min_position: !degrees -360.0
@@ -31,7 +31,7 @@ joint_limits:
3131
has_effort_limits: true
3232
has_position_limits: true
3333
has_velocity_limits: true
34-
max_effort: 430.0
34+
max_effort: 433.0
3535
# we artificially limit this joint to half its actual joint position limit
3636
# to avoid (MoveIt/OMPL) planning problems, as due to the physical
3737
# construction of the robot, it's impossible to rotate the 'elbow_joint'
@@ -51,7 +51,7 @@ joint_limits:
5151
has_effort_limits: true
5252
has_position_limits: true
5353
has_velocity_limits: true
54-
max_effort: 100.0
54+
max_effort: 107.0
5555
max_position: !degrees 360.0
5656
max_velocity: !degrees 210.0
5757
min_position: !degrees -360.0
@@ -61,7 +61,7 @@ joint_limits:
6161
has_effort_limits: true
6262
has_position_limits: true
6363
has_velocity_limits: true
64-
max_effort: 100.0
64+
max_effort: 107.0
6565
max_position: !degrees 360.0
6666
max_velocity: !degrees 210.0
6767
min_position: !degrees -360.0
@@ -71,7 +71,7 @@ joint_limits:
7171
has_effort_limits: true
7272
has_position_limits: true
7373
has_velocity_limits: true
74-
max_effort: 100.0
74+
max_effort: 107.0
7575
max_position: !degrees 360.0
7676
max_velocity: !degrees 210.0
7777
min_position: !degrees -360.0

‎config/ur3e/joint_limits.yaml‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,7 @@ joint_limits:
1414
has_effort_limits: true
1515
has_position_limits: true
1616
has_velocity_limits: true
17-
max_effort: 56.0
17+
max_effort: 54.0
1818
max_position: !degrees 360.0
1919
max_velocity: !degrees 180.0
2020
min_position: !degrees -360.0
@@ -24,7 +24,7 @@ joint_limits:
2424
has_effort_limits: true
2525
has_position_limits: true
2626
has_velocity_limits: true
27-
max_effort: 56.0
27+
max_effort: 54.0
2828
max_position: !degrees 360.0
2929
max_velocity: !degrees 180.0
3030
min_position: !degrees -360.0
@@ -54,7 +54,7 @@ joint_limits:
5454
has_effort_limits: true
5555
has_position_limits: true
5656
has_velocity_limits: true
57-
max_effort: 12.0
57+
max_effort: 9.0
5858
max_position: !degrees 360.0
5959
max_velocity: !degrees 360.0
6060
min_position: !degrees -360.0
@@ -64,7 +64,7 @@ joint_limits:
6464
has_effort_limits: true
6565
has_position_limits: true
6666
has_velocity_limits: true
67-
max_effort: 12.0
67+
max_effort: 9.0
6868
max_position: !degrees 360.0
6969
max_velocity: !degrees 360.0
7070
min_position: !degrees -360.0
@@ -74,7 +74,7 @@ joint_limits:
7474
has_effort_limits: true
7575
has_position_limits: true
7676
has_velocity_limits: true
77-
max_effort: 12.0
77+
max_effort: 9.0
7878
max_position: !degrees 360.0
7979
max_velocity: !degrees 360.0
8080
min_position: !degrees -360.0

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