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Merge pull request #4 from RethinkRobotics/medium_speed_default
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Medium Joint Speed default
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IanTheEngineer authored Oct 3, 2016
2 parents 96565cb + 1fee330 commit a613747
Showing 1 changed file with 28 additions and 28 deletions.
56 changes: 28 additions & 28 deletions sawyer_moveit_config/config/joint_limits.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,11 @@ joint_limits:
## Acceleration Limits (rad/s^2) ##
has_acceleration_limits: true
## Slow Max ##
max_velocity: 0.37
max_acceleration: 1.5
#max_velocity: 0.37
#max_acceleration: 1.5
## Medium Max ##
#max_velocity: 0.88
#max_acceleration: 3.5
max_velocity: 0.88
max_acceleration: 3.5
## Fast Max ##
#max_velocity: 1.48
#max_acceleration: 7
Expand All @@ -22,11 +22,11 @@ joint_limits:
## Acceleration Limits (rad/s^2) ##
has_acceleration_limits: true
## Slow Max ##
max_velocity: 0.2825
max_acceleration: 1.5
#max_velocity: 0.2825
#max_acceleration: 1.5
## Medium Max ##
#max_velocity: 0.678
#max_acceleration: 2.5
max_velocity: 0.678
max_acceleration: 2.5
## Fast Max ##
#max_velocity: 1.13
#max_acceleration: 5
Expand All @@ -39,11 +39,11 @@ joint_limits:
## Acceleration Limits (rad/s^2) ##
has_acceleration_limits: true
## Slow Max ##
max_velocity: 0.415
max_acceleration: 3.0
#max_velocity: 0.415
#max_acceleration: 3.0
## Medium Max ##
#max_velocity: 0.996
#max_acceleration: 5.0
max_velocity: 0.996
max_acceleration: 5.0
## Fast Max ##
#max_velocity: 1.66
#max_acceleration: 8
Expand All @@ -56,11 +56,11 @@ joint_limits:
## Acceleration Limits (rad/s^2) ##
has_acceleration_limits: true
## Slow Max ##
max_velocity: 0.415
max_acceleration: 3.0
#max_velocity: 0.415
#max_acceleration: 3.0
## Medium Max ##
#max_velocity: 0.996
#max_acceleration: 5.0
max_velocity: 0.996
max_acceleration: 5.0
## Fast Max ##
#max_velocity: 1.66
#max_acceleration: 8
Expand All @@ -73,11 +73,11 @@ joint_limits:
## Acceleration Limits (rad/s^2) ##
has_acceleration_limits: true
## Slow Max ##
max_velocity: 0.74
max_acceleration: 3.0
#max_velocity: 0.74
#max_acceleration: 3.0
## Medium Max ##
#max_velocity: 1.776
#max_acceleration: 5.0
max_velocity: 1.776
max_acceleration: 5.0
## Fast Max ##
#max_velocity: 2.96
#max_acceleration: 8
Expand All @@ -90,11 +90,11 @@ joint_limits:
## Acceleration Limits (rad/s^2) ##
has_acceleration_limits: true
## Slow Max ##
max_velocity: 0.74
max_acceleration: 3.0
#max_velocity: 0.74
#max_acceleration: 3.0
## Medium Max ##
#max_velocity: 1.776
#max_acceleration: 5.0
max_velocity: 1.776
max_acceleration: 5.0
## Fast Max ##
#max_velocity: 2.96
#max_acceleration: 8
Expand All @@ -107,11 +107,11 @@ joint_limits:
## Acceleration Limits (rad/s^2) ##
has_acceleration_limits: true
## Slow Max ##
max_velocity: 0.965
max_acceleration: 3.0
#max_velocity: 0.965
#max_acceleration: 3.0
## Medium Max ##
#max_velocity: 2.316
#max_acceleration: 5.0
max_velocity: 2.316
max_acceleration: 5.0
## Fast Max ##
#max_velocity: 3.86
#max_acceleration: 8
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