Q: What is [override_joint_acceleration] in SetSmartServoJointSpeedLimits.srv

[luke-kim409]

Hello,

I am wondering what [override_joint_acceleration] in SetSmartServoJointSpeedLimits.srv is supposed to do. It says in WIKI that

The service request is described and it is pretty simple, you can set:

• joint velocity
• joint acceleration
• override of the joint acceleration You can find their description in the KUKA manuals.

NOTE: currently, it appears to us that changing joint acceleration doesn't result in any actual change in the behavior of the robot. But the value is correctly set using the KUKA APIs, so something is wrong with them. We already told KUKA.

Also, in the srv file, it says

Override the acceleration factor for all joints. Must be between 0.0 and 10.0.

float64 override_joint_acceleration

---

So my understanding that by calling "rosservice call /iiwa/configuration/setSmartServoLimits" I can set the relative joint vel, accel values by specifying "joint_relative_velocity: 0.2 joint_relative_acceleration: 0.5 override_joint_acceleration: 1" for example. 1) In the NOTE above, it seems joint_relative_acceleration doesn't change, has anyone checked to be able to confirm whether the problem of joint_relative_acceleartion value remaining unchanged still persists? 2) I am unsure what "override_joint_accleration" with its value ranging from 0 to 10 is supposed to do. Can anyone explain what it does or when it is necessary?

Thank you so much for your help!

[umicharmlab]

I'm seeing the same problem. I can't find a way to reduce the acceleration. Has anyone achieved this?