used ur_description's joint_limit file

my_robot_cell/my_robot_cell_moveit_config/config/joint_limits.yaml

@@ -1,40 +1,77 @@
-# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
-
-# For beginners, we downscale velocity and acceleration limits.
-# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
-default_velocity_scaling_factor: 0.1
-default_acceleration_scaling_factor: 0.1
-
-# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
-# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+# Joints limits
+#
+# Sources:
+#
+#  - Universal Robots e-Series, User Manual, UR20, Version 5.14
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/203281/706-276-00_UR20_User_Manual_en_Global.pdf
 joint_limits:
-  ur20_elbow_joint:
-    has_velocity_limits: true
-    max_velocity: 2.6179938779914944
+  ur20_shoulder_pan_joint:
+    # acceleration limits are not publicly available
     has_acceleration_limits: false
-    max_acceleration: 0
-  ur20_shoulder_lift_joint:
+    has_effort_limits: true
+    has_position_limits: true
     has_velocity_limits: true
-    max_velocity: 2.0943951023931953
+    max_effort: 730.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
+  ur20_shoulder_lift_joint:
+    # acceleration limits are not publicly available
     has_acceleration_limits: false
-    max_acceleration: 0
-  ur20_shoulder_pan_joint:
+    has_effort_limits: true
+    has_position_limits: true
     has_velocity_limits: true
-    max_velocity: 2.0943951023931953
+    max_effort: 730.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  120.0
+    min_position: !degrees -360.0
+  ur20_elbow_joint:
+    # acceleration limits are not publicly available
     has_acceleration_limits: false
-    max_acceleration: 0
-  ur20_wrist_1_joint:
+    has_effort_limits: true
+    has_position_limits: true
     has_velocity_limits: true
-    max_velocity: 3.6651914291880923
+    max_effort: 430.0
+    # we artificially limit this joint to half its actual joint position limit
+    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
+    # construction of the robot, it's impossible to rotate the 'elbow_joint'
+    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
+    #
+    # This leads to planning problems as the search space will be divided into
+    # two sections, with no connections from one to the other.
+    #
+    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
+    # more information.
+    max_position: !degrees  180.0
+    max_velocity: !degrees  150.0
+    min_position: !degrees -180.0
+  ur20_wrist_1_joint:
+    # acceleration limits are not publicly available
     has_acceleration_limits: false
-    max_acceleration: 0
-  ur20_wrist_2_joint:
+    has_effort_limits: true
+    has_position_limits: true
     has_velocity_limits: true
-    max_velocity: 3.6651914291880923
+    max_effort: 100.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  210.0
+    min_position: !degrees -360.0
+  ur20_wrist_2_joint:
+    # acceleration limits are not publicly available
     has_acceleration_limits: false
-    max_acceleration: 0
-  ur20_wrist_3_joint:
+    has_effort_limits: true
+    has_position_limits: true
     has_velocity_limits: true
-    max_velocity: 3.6651914291880923
+    max_effort: 100.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  210.0
+    min_position: !degrees -360.0
+  ur20_wrist_3_joint:
+    # acceleration limits are not publicly available
     has_acceleration_limits: false
-    max_acceleration: 0
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 100.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  210.0
+    min_position: !degrees -360.0