Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

I found a solution.

For anyone else looking, in the moveit generated package config/joint_limits.yaml file, resides the following configurations:

joint_limits:
  shoulder_pan_joint:
    has_velocity_limits: true
    max_velocity: 3.15
    has_acceleration_limits: true
    max_acceleration: 3.15
  shoulder_lift_joint:
    has_velocity_limits: true
    max_velocity: 3.15
    has_acceleration_limits: true
    max_acceleration: 3.15
  elbow_joint:
    has_velocity_limits: true
    max_velocity: 3.15
    has_acceleration_limits: true
    max_acceleration: 3.15
  wrist_1_joint:
    has_velocity_limits: true
    max_velocity: 3.2
    has_acceleration_limits: true
    max_acceleration: 3.2
  wrist_2_joint:
    has_velocity_limits: true
    max_velocity: 3.2
    has_acceleration_limits: true
    max_acceleration: 3.2
  wrist_3_joint:
    has_velocity_limits: true
    max_velocity: 3.2
    has_acceleration_limits: true
    max_acceleration: 3.2

I changed all the 3.15 values to 1.00 and the 3.2 values to 1.2. Those figures were arbitrary. Not sure it there is a way to set better values but the UR5 is slowed down.