Update the joint limits for UR20 (#99)

(cherry picked from commit 9712b2e)

Co-authored-by: Rune Søe-Knudsen <[email protected]>

config/ur20/joint_limits.yaml

@@ -2,39 +2,36 @@
 #
 # Sources:
 #
-#  - Universal Robots e-Series, User Manual, UR16e, Version 5.8
-#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69187/99473_UR16e_User_Manual_en_Global.pdf
-#  - Support > Articles > UR articles > Max. joint torques
-#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
-#    retrieved: 2020-06-16, last modified: 2020-06-09
+#  - 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:
   shoulder_pan_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
-    max_effort: 330.0
+    max_effort: 730.0
     max_position: !degrees  360.0
-    max_velocity: !degrees  130.0
+    max_velocity: !degrees  120.0
     min_position: !degrees -360.0
   shoulder_lift_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
-    max_effort: 330.0
+    max_effort: 730.0
     max_position: !degrees  360.0
-    max_velocity: !degrees  130.0
+    max_velocity: !degrees  120.0
     min_position: !degrees -360.0
   elbow_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
-    max_effort: 150.0
+    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'
@@ -46,35 +43,35 @@ joint_limits:
     # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
     # more information.
     max_position: !degrees  180.0
-    max_velocity: !degrees  160.0
+    max_velocity: !degrees  150.0
     min_position: !degrees -180.0
   wrist_1_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
-    max_effort: 56.0
+    max_effort: 100.0
     max_position: !degrees  360.0
-    max_velocity: !degrees  220.0
+    max_velocity: !degrees  210.0
     min_position: !degrees -360.0
   wrist_2_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
-    max_effort: 56.0
+    max_effort: 100.0
     max_position: !degrees  360.0
-    max_velocity: !degrees  220.0
+    max_velocity: !degrees  210.0
     min_position: !degrees -360.0
   wrist_3_joint:
     # acceleration limits are not publicly available
     has_acceleration_limits: false
     has_effort_limits: true
     has_position_limits: true
     has_velocity_limits: true
-    max_effort: 56.0
+    max_effort: 100.0
     max_position: !degrees  360.0
-    max_velocity: !degrees  220.0
+    max_velocity: !degrees  210.0
     min_position: !degrees -360.0