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moveit / moveit_resources

URDFs, meshes, and config packages for MoveIt testing
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Update acceleration limits for robot configs #195

Closed pac48 closed 9 months ago

pac48 commented 10 months ago

See https://github.com/ros-planning/moveit_resources/issues/194 for more detail. I think some discussion on how to manage different sets of joint_limits.yaml could be beneficial.

pac48 commented 9 months ago

@sjahr That is a good point. The problem is that joint_limits.yaml was created before MoveIt supported jerk limits. So the acceleration limits were intentionally low to implicitly enforce jerk constraints. Now that there is some support for jerk constraints, it is reasonable to remove the artificially low acceleration limits in some configurations. The idea was to make a new config with the actual hardware acceleration values. I guess the name is not very clear. Do you have any suggestions? There is some discussion in this issue: https://github.com/ros-planning/moveit_resources/issues/194

pac48 commented 9 months ago

Do you mind adding a comment why has_jerk_limits: false for all joints in a file called joint_limits_jerk_limited? I think that might be confusing otherwise

@sjahr What if we call it hard_joint_limits.yaml It looks like this is already a convention in here

sjahr commented 9 months ago

:+1: Yes, I like that. Let's do it

pac48 commented 9 months ago

Looks good.

So the plan is to use this new file for our servo examples going forward, then?

Yes, we can use these limits in servo for better control.