From f85cbabdacc6f945d2279278e476083b9e446317 Mon Sep 17 00:00:00 2001 From: AndyZe Date: Fri, 9 Aug 2024 16:15:49 -0500 Subject: [PATCH] Add reasonable joint jerk limits for the Panda --- .../config/hard_joint_limits.yaml | 27 ++++++++++++------- panda_moveit_config/config/joint_limits.yaml | 27 ++++++++++++------- 2 files changed, 36 insertions(+), 18 deletions(-) diff --git a/panda_moveit_config/config/hard_joint_limits.yaml b/panda_moveit_config/config/hard_joint_limits.yaml index 996921c9..c7bf88b6 100644 --- a/panda_moveit_config/config/hard_joint_limits.yaml +++ b/panda_moveit_config/config/hard_joint_limits.yaml @@ -9,52 +9,61 @@ joint_limits: max_velocity: 2.1750 has_acceleration_limits: true max_acceleration: 15.0 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 panda_joint2: has_velocity_limits: true max_velocity: 2.1750 has_acceleration_limits: true max_acceleration: 7.5 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 panda_joint3: has_velocity_limits: true max_velocity: 2.1750 has_acceleration_limits: true max_acceleration: 10.0 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 panda_joint4: has_velocity_limits: true max_velocity: 2.1750 has_acceleration_limits: true max_acceleration: 12.5 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 panda_joint5: has_velocity_limits: true max_velocity: 2.6100 has_acceleration_limits: true max_acceleration: 15.0 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 panda_joint6: has_velocity_limits: true max_velocity: 2.6100 has_acceleration_limits: true max_acceleration: 20.0 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 panda_joint7: has_velocity_limits: true max_velocity: 2.6100 has_acceleration_limits: true max_acceleration: 20.0 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 panda_finger_joint1: has_velocity_limits: true max_velocity: 0.1 has_acceleration_limits: true max_acceleration: 1.0 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 panda_finger_joint2: has_velocity_limits: true max_velocity: 0.1 has_acceleration_limits: true max_acceleration: 1.0 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 diff --git a/panda_moveit_config/config/joint_limits.yaml b/panda_moveit_config/config/joint_limits.yaml index b2f4e0b3..3270ee43 100644 --- a/panda_moveit_config/config/joint_limits.yaml +++ b/panda_moveit_config/config/joint_limits.yaml @@ -8,52 +8,61 @@ joint_limits: max_velocity: 2.1750 has_acceleration_limits: true max_acceleration: 3.75 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 panda_joint2: has_velocity_limits: true max_velocity: 2.1750 has_acceleration_limits: true max_acceleration: 1.875 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 panda_joint3: has_velocity_limits: true max_velocity: 2.1750 has_acceleration_limits: true max_acceleration: 2.5 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 panda_joint4: has_velocity_limits: true max_velocity: 2.1750 has_acceleration_limits: true max_acceleration: 3.125 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 panda_joint5: has_velocity_limits: true max_velocity: 2.6100 has_acceleration_limits: true max_acceleration: 3.75 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 panda_joint6: has_velocity_limits: true max_velocity: 2.6100 has_acceleration_limits: true max_acceleration: 5.0 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 panda_joint7: has_velocity_limits: true max_velocity: 2.6100 has_acceleration_limits: true max_acceleration: 5.0 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 panda_finger_joint1: has_velocity_limits: true max_velocity: 0.1 has_acceleration_limits: true max_acceleration: 1.0 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0 panda_finger_joint2: has_velocity_limits: true max_velocity: 0.1 has_acceleration_limits: true max_acceleration: 1.0 - has_jerk_limits: false + has_jerk_limits: true + max_jerk: 300.0