Add reasonable joint jerk limits for the Panda (#201)

moveit · Aug 10, 2024 · c4d86cf · c4d86cf
1 parent 6d3084a
commit c4d86cf
Show file tree

Hide file tree

Showing 2 changed files with 36 additions and 18 deletions.
diff --git a/panda_moveit_config/config/hard_joint_limits.yaml b/panda_moveit_config/config/hard_joint_limits.yaml
@@ -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
diff --git a/panda_moveit_config/config/joint_limits.yaml b/panda_moveit_config/config/joint_limits.yaml
@@ -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