# Universal Robots ROS 2 description: config/ur3e/joint limits.yaml

Official pinned robot configuration text for config/ur3e/joint limits.yaml. Inspect the upstream package and adjacent assets before use.

ID: `ur-description-artifact-config-ur3e-joint-limits-yaml`

Record version: `source-51f2e1d00f69154a49aca95c1f17497622861b1d14c2de5ace0a9687dc5424ca`

Hub commit: `3a81abb601c3b4b8fcb9a8bed5ca270e546f5f1a`

## Access

Inspect this checksum-pinned text in the full upstream checkout. Resolve adjacent definitions/assets and their separate licenses using upstream instructions. The Hub does not load or execute this artifact.

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/blob/d4042c1f5123c86645cc5dbd650b4f461f697ee9/README.md

## Source and license

- Repository: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description
- Pinned source: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/blob/d4042c1f5123c86645cc5dbd650b4f461f697ee9/config/ur3e/joint_limits.yaml
- Revision: `d4042c1f5123c86645cc5dbd650b4f461f697ee9`
- Path: `config/ur3e/joint_limits.yaml`
- Source SHA256: `51f2e1d00f69154a49aca95c1f17497622861b1d14c2de5ace0a9687dc5424ca`
- Source bytes: 2796
- Original authors: See pinned upstream source and license notices.
- License: [BSD-3-Clause](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/blob/d4042c1f5123c86645cc5dbd650b4f461f697ee9/LICENSE)
- License scope: Selected robot-description/configuration source text only. Preserve upstream notices; meshes, textures, dependencies and trademarks retain their separate licenses. The UR8LONG, UR15, UR18, UR20 and UR30 meshes are separately governed by Universal Robots graphical-documentation terms; BSD-3-Clause here does not license those meshes.

License SHA256: `143077f9f6a8de5a99f78c2c2472801fb53cf240277ef661642f079b9acdfff8`

## Artifact

```json
{
  "kind": "robot_configuration",
  "format": "yaml",
  "role": "Source/configuration reference; not an executable Hub skill",
  "structure": {
    "keys": [
      "elbow_joint",
      "has_acceleration_limits",
      "has_effort_limits",
      "has_position_limits",
      "has_velocity_limits",
      "joint_limits",
      "max_effort",
      "max_position",
      "max_velocity",
      "min_position",
      "shoulder_lift_joint",
      "shoulder_pan_joint",
      "wrist_1_joint",
      "wrist_2_joint",
      "wrist_3_joint"
    ],
    "keys_truncated": false
  }
}
```

## Requirements

```json
{
  "python": "Not a Python entrypoint; follow the pinned upstream package requirements",
  "packages": [
    "ROS 2 and ur_description from the pinned checkout",
    "Xacro and adjacent robot configuration/mesh resources"
  ],
  "display": "Descriptions and parameters require the matching upstream ROS 2 package. Default kinematics are nominal model data, not robot-specific calibration. Certain meshes have separate Universal Robots graphical-documentation terms.",
  "execution_domain": "configuration",
  "source_imports": []
}
```

## Invocation

```json
{
  "entrypoint": "Data/configuration artifact: config/ur3e/joint_limits.yaml; use its upstream loader or package integration after inspection",
  "notes": "This file is not a standalone program. No Xacro expansion, include resolution, model loading, configuration deployment or robot execution was performed."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source discovery labels do not establish robot compatibility.

## Evidence

Level: **source_reviewed**. Runtime verification: **not_run**.

Verified exact source and applicable license SHA-256 bytes. Inspected UTF-8 configuration text and mapping-key shape; YAML semantics and ROS parameter compatibility were not evaluated.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.