joint limits readme

kroshu · Nov 20, 2023 · 6fa9d97 · 6fa9d97
1 parent 5166b21
commit 6fa9d97
Show file tree

Hide file tree

Showing 4 changed files with 20 additions and 46 deletions.
diff --git a/README.md b/README.md
@@ -26,8 +26,9 @@ Github CI
 
 ### Joint limit configurations
 
- - joint limits files
+ The support packages contain a joint limits file for every supported robot model, necessary time parametrization of moveit-planned paths. They contain the velocity limits also available in the URDF model and additional acceleration limits. Acceleration limits can never be global, these values are calculated from the worst-case ramp-up time to reach maximum velocity. The easiest way to modify the allowed velocities and accelerations is to change the velocity and acceleration scaling factors also available in the same configuration files. (The scaling factor can never be smaller than 1.)
 
+
 ### Extending the models
 
  In real applications, it's likely that your description will be more complex, involving multiple objects next to the robot. It is recommended to create a dedicated ROS2 package specifically for managing this extended description.

diff --git a/kuka_lbr_iisy_support/config/lbr_iisy11_r1300_joint_limits.yaml b/kuka_lbr_iisy_support/config/lbr_iisy11_r1300_joint_limits.yaml
@@ -2,9 +2,6 @@
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration, max_jerk]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 
-# The default config of moveit does not take into account the jerk limits, the RuckigTrajectorySmoothing adapter must be
-# added to the planning pipeline to support jerk limits
-
 # Easiest way to slow down the robot is to decrease the velocity and acceleration scaling factors
 default_velocity_scaling_factor: 1.0
 default_acceleration_scaling_factor: 1.0
@@ -14,40 +11,34 @@ joint_limits:
     max_velocity: 3.490656
     has_acceleration_limits: true
     max_acceleration: 11.089258
-    has_jerk: true
-    max_jerk: 3757.777778
+    has_jerk: false
   joint_a2:
     has_velocity_limits: true
     max_velocity: 3.490656
     has_acceleration_limits: true
     max_acceleration: 1.105824
-    has_jerk: true
-    max_jerk: 3391.182265
+    has_jerk: false
   joint_a3:
     has_velocity_limits: true
     max_velocity: 3.490656
     has_acceleration_limits: true
     max_acceleration: 1.836823
-    has_jerk: true
-    max_jerk: 1362.865183
+    has_jerk: false
   joint_a4:
     has_velocity_limits: true
     max_velocity: 4.014255
     has_acceleration_limits: true
     max_acceleration: 40.248068
-    has_jerk: true
-    max_jerk: 606.319878
+    has_jerk: false
   joint_a5:
     has_velocity_limits: true
     max_velocity: 4.537856
     has_acceleration_limits: true
     max_acceleration: 43.739157
-    has_jerk: true
-    max_jerk: 598.681915
+    has_jerk: false
   joint_a6:
     has_velocity_limits: true
     max_velocity: 7.504909
     has_acceleration_limits: true
     max_acceleration: 134.647432
-    has_jerk: true
-    max_jerk: 145.557710
+    has_jerk: false
diff --git a/kuka_lbr_iisy_support/config/lbr_iisy15_r930_joint_limits.yaml b/kuka_lbr_iisy_support/config/lbr_iisy15_r930_joint_limits.yaml
@@ -2,9 +2,6 @@
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration, max_jerk]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 
-# The default config of moveit does not take into account the jerk limits, the RuckigTrajectorySmoothing adapter must be
-# added to the planning pipeline to support jerk limits
-
 # Easiest way to slow down the robot is to decrease the velocity and acceleration scaling factors
 default_velocity_scaling_factor: 1.0
 default_acceleration_scaling_factor: 1.0
@@ -14,40 +11,34 @@ joint_limits:
     max_velocity: 3.490656
     has_acceleration_limits: true
     max_acceleration: 17.929068
-    has_jerk: true
-    max_jerk: 3685.289606
+    has_jerk: false
   joint_a2:
     has_velocity_limits: true
     max_velocity: 3.490656
     has_acceleration_limits: true
     max_acceleration: 1.324527
-    has_jerk: true
-    max_jerk: 2653.054380
+    has_jerk: false
   joint_a3:
     has_velocity_limits: true
     max_velocity: 3.490656
     has_acceleration_limits: true
     max_acceleration: 1.931703
-    has_jerk: true
-    max_jerk: 1274.691677
+    has_jerk: false
   joint_a4:
     has_velocity_limits: true
     max_velocity: 4.014255
     has_acceleration_limits: true
     max_acceleration: 20.760275
-    has_jerk: true
-    max_jerk: 588.650348
+    has_jerk: false
   joint_a5:
     has_velocity_limits: true
     max_velocity: 4.537856
     has_acceleration_limits: true
     max_acceleration: 17.729259
-    has_jerk: true
-    max_jerk: 542.410163
+    has_jerk: false
   joint_a6:
     has_velocity_limits: true
     max_velocity: 7.504909
     has_acceleration_limits: true
     max_acceleration: 98.845225
-    has_jerk: true
-    max_jerk: 147.477480
+    has_jerk: false
diff --git a/kuka_lbr_iisy_support/config/lbr_iisy3_r760_joint_limits.yaml b/kuka_lbr_iisy_support/config/lbr_iisy3_r760_joint_limits.yaml
@@ -2,9 +2,6 @@
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration, max_jerk]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 
-# The default config of moveit does not take into account the jerk limits, the RuckigTrajectorySmoothing adapter must be
-# added to the planning pipeline to support jerk limits # TODO: check if jerk dimensions are ok!!
-
 # Easiest way to slow down the robot is to decrease the velocity and acceleration scaling factors
 default_velocity_scaling_factor: 1.0
 default_acceleration_scaling_factor: 1.0
@@ -14,40 +11,34 @@ joint_limits:
     max_velocity: 3.490656
     has_acceleration_limits: true
     max_acceleration: 17.567841
-    has_jerk: true
-    max_jerk: 892.0286289
+    has_jerk: false
   joint_a2:
     has_velocity_limits: true
     max_velocity: 3.490656
     has_acceleration_limits: true
     max_acceleration: 2.101232
-    has_jerk: true
-    max_jerk: 886.576821
+    has_jerk: false
   joint_a3:
     has_velocity_limits: true
     max_velocity: 3.490656
     has_acceleration_limits: true
     max_acceleration: 10.738869
-    has_jerk: true
-    max_jerk: 516.588450
+    has_jerk: false
   joint_a4:
     has_velocity_limits: true
     max_velocity: 5.235983
     has_acceleration_limits: true
     max_acceleration: 27.276282
-    has_jerk: true
-    max_jerk: 175.806183
+    has_jerk: false
   joint_a5:
     has_velocity_limits: true
     max_velocity: 5.235983
     has_acceleration_limits: true
     max_acceleration: 21.786787
-    has_jerk: true
-    max_jerk: 156.995898
+    has_jerk: false
   joint_a6:
     has_velocity_limits: true
     max_velocity: 5.235983
     has_acceleration_limits: true
     max_acceleration: 112.291689
-    has_jerk: true
-    max_jerk: 57.552859
+    has_jerk: false