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Add reasonable joint jerk limits for the Panda #201

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merged 1 commit into from
Aug 10, 2024
Merged

Add reasonable joint jerk limits for the Panda #201

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27 changes: 18 additions & 9 deletions panda_moveit_config/config/hard_joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
27 changes: 18 additions & 9 deletions panda_moveit_config/config/joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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