From e4905e0486705eada218aac58c9e342a4c42c65a Mon Sep 17 00:00:00 2001
From: Rick Staa <rick.staa@outlook.com>
Date: Tue, 5 Oct 2021 11:27:16 +0200
Subject: [PATCH] Restore joint limits from Melodic branch
Keep manually adjusted joint limits from the original Melodic branch.
---
config/joint_limits.yaml | 53 +++++++++++++++++++++++-----------------
1 file changed, 30 insertions(+), 23 deletions(-)
diff --git a/config/joint_limits.yaml b/config/joint_limits.yaml
index c3472cc..d531621 100644
--- a/config/joint_limits.yaml
+++ b/config/joint_limits.yaml
@@ -7,49 +7,56 @@ default_acceleration_scaling_factor: 0.1
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+
+# As MoveIt! does not support jerk limits, the acceleration limits provided here are the highest values that guarantee
+# that no jerk limits will be violated. More precisely, applying Euler differentiation in the worst case (from min accel
+# to max accel in 1 ms) the acceleration limits are the ones that satisfy
+# max_jerk = (max_acceleration - min_acceleration) / 0.001
+
joint_limits:
panda_finger_joint1:
has_velocity_limits: true
- max_velocity: 0.2
+ max_velocity: 0.1
has_acceleration_limits: false
max_acceleration: 0
panda_finger_joint2:
has_velocity_limits: true
- max_velocity: 0.2
+ max_velocity: 0.1
has_acceleration_limits: false
max_acceleration: 0
panda_joint1:
has_velocity_limits: true
- max_velocity: 2.175
- has_acceleration_limits: false
- max_acceleration: 0
+ max_velocity: 2.1750
+ has_acceleration_limits: true
+ max_acceleration: 3.75
panda_joint2:
has_velocity_limits: true
- max_velocity: 2.175
- has_acceleration_limits: false
- max_acceleration: 0
+ max_velocity: 2.1750
+ has_acceleration_limits: true
+ max_acceleration: 1.875
panda_joint3:
has_velocity_limits: true
- max_velocity: 2.175
- has_acceleration_limits: false
- max_acceleration: 0
+ max_velocity: 2.1750
+ has_acceleration_limits: true
+ max_acceleration: 2.5
panda_joint4:
has_velocity_limits: true
- max_velocity: 2.175
- has_acceleration_limits: false
- max_acceleration: 0
+ max_velocity: 2.1750
+ has_acceleration_limits: true
+ max_acceleration: 3.125
panda_joint5:
has_velocity_limits: true
- max_velocity: 2.61
- has_acceleration_limits: false
- max_acceleration: 0
+ max_velocity: 2.6100
+ has_acceleration_limits: true
+ max_acceleration: 3.75
panda_joint6:
has_velocity_limits: true
- max_velocity: 2.61
- has_acceleration_limits: false
- max_acceleration: 0
+ max_velocity: 2.6100
+ has_acceleration_limits: true
+ max_acceleration: 5
panda_joint7:
has_velocity_limits: true
- max_velocity: 2.61
- has_acceleration_limits: false
- max_acceleration: 0
\ No newline at end of file
+ max_velocity: 2.6100
+ has_acceleration_limits: true
+ max_acceleration: 5
+
--
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