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(I'm assuming this is joint_limits.yaml found in the config sub dir of MoveIt configuration packages)

Just as everything else in ROS (or more precisely: just as everything in ROS should), the joint_limits.yaml file follows the rules described in REP-103: Standard Units of Measure and Coordinate Conventions.

For rotations, that would be radians, for distances, meters.

So:

• revolute joints:
  • velocity: radians/sec
  • acceleration: radians/sec^2
• prismatic (or linear) joints:
  • velocity: meters/sec
  • acceleration: meters/sec^2

(I'm assuming this is joint_limits.yaml found in the config sub dir of MoveIt configuration packages)

Just as everything else in ROS (or more precisely: just as everything in ROS should), the joint_limits.yaml file follows the rules described in REP-103: Standard Units of Measure and Coordinate Conventions.

For rotations, angles, that would be radians, for distances, lengths, meters.

So:

• revolute joints:
  • velocity: radians/sec
  • acceleration: radians/sec^2
• prismatic (or linear) joints:
  • velocity: meters/sec
  • acceleration: meters/sec^2

(I'm assuming this is joint_limits.yaml found in the config sub dir of MoveIt configuration packages)

Just as everything else in ROS (or more precisely: just as everything in ROS should), the joint_limits.yaml file follows the rules described in REP-103: Standard Units of Measure and Coordinate Conventions.

For angles, that would be radians, for lengths, meters.

So:

• revolute joints:
  • velocity: radians/sec
  • acceleration: radians/sec^2
• prismatic (or linear) joints:
  • velocity: meters/sec
  • acceleration: meters/sec^2

(I'm assuming this is joint_limits.yaml found in the config sub dir of MoveIt configuration packages)

Just as everything else in ROS (or more precisely: just as everything in ROS should), the joint_limits.yaml file follows the rules described in REP-103: Standard Units of Measure and Coordinate Conventions.

For angles, that would be radians, for lengths, metersmetres.

So:

• revolute joints:
  • position: radians
  • velocity: radians/sec
  • acceleration: radians/sec^2
  • jerk: radians/sec^3
• prismatic (or linear) joints:
  • position: metres
  • velocity: meters/secmetres/sec
  • acceleration: meters/sec^2metres/sec^2
  • jerk: metres/sec^3

See also:

• What are the units and coordinate conventions in ROS?
• wiki/ROS/Patterns/Conventions
• wiki/geometry/CoordinateFrameConventions