JointLimits

A JointLimits constraint is specified by the type: JointLimits property. Its parameters are described below.

limits

map field, where the key represents a valid joint name, and the value is a [qmin, qmax] pair. The field is optional, and all missing joints take their limits from the URDF file.

bound_scaling

Scaling factor for the joint range, w.r.t. the the center of the range. For example, with a bound_scaling: 2.0 parameter, the range [0, 2] will be transformed into [-1, 3]. The field is optional, and the default value is 1.0

Example

MyJointLims:
    type: JointLimits
    bound_scaling: 0.9 # 90% of the specified range
    limits:
        j_arm1_1: [-1, 1] # custom value
        j_arm1_7: [0, 0]  # lock joint to 0
        # all other joints take the URDF limits

VelocityLimits

A VelocityLimits constraint is specified by the type: VelocityLimits property. Its parameters are described below.

limits

Either one of the following:

map field, where the key represents a valid joint name, and the value is a qdot_max positive float.

scalar field, which overwrites all limits from URDF to the given constant value

The field is optional, and all missing joints take their limits from the URDF file.

bound_scaling

Scaling factor for the joint velocity limit. The field is optional, and the default value is 1.0

Example

MyVelLims:
    type: VelocityLimits
    bound_scaling: 0.9 # 90% of the velocity limit
    limits:
        j_arm1_1: 1 # custom limit
        # all other joints take the URDF limits