[xsarm_moveit] Add required joint velocity limits

Fixes #130.
Interbotix · Oct 17, 2023 · 81ea963 · 81ea963
1 parent 777c271
commit 81ea963
Show file tree

Hide file tree

Showing 13 changed files with 66 additions and 66 deletions.
diff --git a/...tix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/mobile_px100_joint_limits.yaml b/...tix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/mobile_px100_joint_limits.yaml
@@ -7,22 +7,22 @@ default_acceleration_scaling_factor: 1.0
 
 joint_limits:
   waist:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   shoulder:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   elbow:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_angle:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0

diff --git a/...tix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/mobile_wx200_joint_limits.yaml b/...tix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/mobile_wx200_joint_limits.yaml
@@ -7,27 +7,27 @@ default_acceleration_scaling_factor: 1.0
 
 joint_limits:
   waist:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   shoulder:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   elbow:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_angle:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_rotate:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0

diff --git a/...ix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/mobile_wx250s_joint_limits.yaml b/...ix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/mobile_wx250s_joint_limits.yaml
@@ -7,32 +7,32 @@ default_acceleration_scaling_factor: 1.0
 
 joint_limits:
   waist:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   shoulder:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   elbow:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   forearm_roll:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_angle:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_rotate:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0

diff --git a/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/px100_joint_limits.yaml b/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/px100_joint_limits.yaml
@@ -7,22 +7,22 @@ default_acceleration_scaling_factor: 1.0
 
 joint_limits:
   waist:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   shoulder:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   elbow:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_angle:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0

diff --git a/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/px150_joint_limits.yaml b/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/px150_joint_limits.yaml
@@ -7,27 +7,27 @@ default_acceleration_scaling_factor: 1.0
 
 joint_limits:
   waist:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   shoulder:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   elbow:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_angle:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_rotate:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0

diff --git a/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/rx150_joint_limits.yaml b/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/rx150_joint_limits.yaml
@@ -7,27 +7,27 @@ default_acceleration_scaling_factor: 1.0
 
 joint_limits:
   waist:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   shoulder:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   elbow:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_angle:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_rotate:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0

diff --git a/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/rx200_joint_limits.yaml b/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/rx200_joint_limits.yaml
@@ -7,27 +7,27 @@ default_acceleration_scaling_factor: 1.0
 
 joint_limits:
   waist:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   shoulder:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   elbow:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_angle:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_rotate:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0

diff --git a/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/vx250_joint_limits.yaml b/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/vx250_joint_limits.yaml
@@ -7,27 +7,27 @@ default_acceleration_scaling_factor: 1.0
 
 joint_limits:
   waist:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   shoulder:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   elbow:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_angle:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_rotate:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0

diff --git a/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/vx300_joint_limits.yaml b/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/vx300_joint_limits.yaml
@@ -7,27 +7,27 @@ default_acceleration_scaling_factor: 1.0
 
 joint_limits:
   waist:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   shoulder:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   elbow:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_angle:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_rotate:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0

diff --git a/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/vx300s_joint_limits.yaml b/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/vx300s_joint_limits.yaml
@@ -7,32 +7,32 @@ default_acceleration_scaling_factor: 1.0
 
 joint_limits:
   waist:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   shoulder:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   elbow:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   forearm_roll:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_angle:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_rotate:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0

diff --git a/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/wx200_joint_limits.yaml b/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/wx200_joint_limits.yaml
@@ -7,27 +7,27 @@ default_acceleration_scaling_factor: 1.0
 
 joint_limits:
   waist:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   shoulder:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   elbow:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_angle:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_rotate:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0

diff --git a/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/wx250_joint_limits.yaml b/interbotix_ros_xsarms/interbotix_xsarm_moveit/config/joint_limits/wx250_joint_limits.yaml
@@ -7,27 +7,27 @@ default_acceleration_scaling_factor: 1.0
 
 joint_limits:
   waist:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   shoulder:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   elbow:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_angle:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0
   wrist_rotate:
-    has_velocity_limits: false
+    has_velocity_limits: true
     max_velocity: 3.14
     has_acceleration_limits: true
     max_acceleration: 5.0