From 62b8e72e65f81dbae730846d7b6dafc2c904f780 Mon Sep 17 00:00:00 2001
From: weipengzhe <3389096668@qq.com>
Date: Thu, 17 Sep 2026 09:36:03 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8A=A0=E5=85=A5=E4=BA=86=E5=85=B3=E8=8A=82?=
 =?UTF-8?q?=E8=BD=AF=E9=99=90=E4=BD=8D=E5=92=8C=E6=8E=A7=E5=88=B6=E8=AF=9D?=
 =?UTF-8?q?=E9=A2=98=E5=AD=97=E6=AE=B5?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 config/joint_motion_limit.yaml  | 46 ++++++++++++++++++++++++++++++++
 config/joint_soft_limits.yaml   | 47 +++++++++++++++++++++++++++++++++
 src/msgs/msg/ControlActions.msg |  6 +++++
 3 files changed, 99 insertions(+)
 create mode 100644 config/joint_motion_limit.yaml
 create mode 100644 config/joint_soft_limits.yaml
 create mode 100644 src/msgs/msg/ControlActions.msg

diff --git a/config/joint_motion_limit.yaml b/config/joint_motion_limit.yaml
new file mode 100644
index 0000000..75ebdb8
--- /dev/null
+++ b/config/joint_motion_limit.yaml
@@ -0,0 +1,46 @@
+arm_joint_limits:
+  right_arm:
+    joint_1:
+      vec: 4
+      acc: 4
+    joint_2:
+      vec: 4
+      acc: 4
+    joint_3:
+      vec: 4
+      acc: 4
+    joint_4:
+      vec: 4
+      acc: 4
+    joint_5:
+      vec: 4
+      acc: 4
+    joint_6:
+      vec: 4
+      acc: 4
+    joint_7:
+      vec: 4
+      acc: 4
+
+  left_arm:
+    joint_1:
+      vec: 4
+      acc: 4
+    joint_2:
+      vec: 4
+      acc: 4
+    joint_3:
+      vec: 4
+      acc: 4
+    joint_4:
+      vec: 4
+      acc: 4
+    joint_5:
+      vec: 4
+      acc: 4
+    joint_6:
+      vec: 4
+      acc: 4
+    joint_7:
+      vec: 4
+      acc: 4
\ No newline at end of file
diff --git a/config/joint_soft_limits.yaml b/config/joint_soft_limits.yaml
new file mode 100644
index 0000000..ba4c70a
--- /dev/null
+++ b/config/joint_soft_limits.yaml
@@ -0,0 +1,47 @@
+arm_joint_limits:
+  right_arm:
+    joint_1:
+      min: -167
+      max: 167
+    joint_2:
+      min: -4
+      max: 183
+    joint_3:
+      min: -154
+      max: 154
+    joint_4:
+      min: -117
+      max: 117
+    joint_5:
+      min: -154
+      max: 154
+    joint_6:
+      min: -91
+      max: 91
+    joint_7:
+      min: -91
+      max: 91
+
+  left_arm:
+    joint_1:
+      min: -167
+      max: 167
+    joint_2:
+      min: -183
+      max: 4
+    joint_3:
+      min: -154
+      max: 154
+    joint_4:
+      min: -117
+      max: 117
+    joint_5:
+      min: -154
+      max: 154
+    joint_6:
+      min: -91
+      max: 91
+    joint_7:
+      min: -91
+      max: 91
+      
\ No newline at end of file
diff --git a/src/msgs/msg/ControlActions.msg b/src/msgs/msg/ControlActions.msg
new file mode 100644
index 0000000..98a5121
--- /dev/null
+++ b/src/msgs/msg/ControlActions.msg
@@ -0,0 +1,6 @@
+std_msgs/Header header
+
+uint64 system_timestamp
+string arm_ip
+
+float64[12] 
\ No newline at end of file