From b5ad644bb81c87801efcea405662b479c2c2e5a6 Mon Sep 17 00:00:00 2001 From: Lars Glud Date: Sat, 31 May 2025 12:54:06 +0200 Subject: [PATCH] Update joint acceleration limits . Update ompl_planning. --- .../config/joint_limits.yaml | 24 +++++++++---------- .../config/ompl_planning.yaml | 20 +++++++++------- 2 files changed, 23 insertions(+), 21 deletions(-) diff --git a/robot_specific_config/abb_irb1200_5_90_moveit_config/config/joint_limits.yaml b/robot_specific_config/abb_irb1200_5_90_moveit_config/config/joint_limits.yaml index 135da3c..6b3d1ec 100644 --- a/robot_specific_config/abb_irb1200_5_90_moveit_config/config/joint_limits.yaml +++ b/robot_specific_config/abb_irb1200_5_90_moveit_config/config/joint_limits.yaml @@ -5,30 +5,30 @@ joint_limits: joint_1: has_velocity_limits: true max_velocity: 5.027 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 # should be updated to actual values (all max_accelerations). joint_2: has_velocity_limits: true max_velocity: 4.189 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 joint_3: has_velocity_limits: true max_velocity: 5.236 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 joint_4: has_velocity_limits: true max_velocity: 6.981 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 joint_5: has_velocity_limits: true max_velocity: 7.069 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 joint_6: has_velocity_limits: true max_velocity: 10.472 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 5.0 diff --git a/robot_specific_config/abb_irb1200_5_90_moveit_config/config/ompl_planning.yaml b/robot_specific_config/abb_irb1200_5_90_moveit_config/config/ompl_planning.yaml index 1581cff..f6a0ae9 100644 --- a/robot_specific_config/abb_irb1200_5_90_moveit_config/config/ompl_planning.yaml +++ b/robot_specific_config/abb_irb1200_5_90_moveit_config/config/ompl_planning.yaml @@ -1,12 +1,14 @@ -planning_plugin: ompl_interface/OMPLPlanner -request_adapters: >- - default_planner_request_adapters/AddTimeOptimalParameterization - default_planner_request_adapters/ResolveConstraintFrames - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints -start_state_max_bounds_error: 0.1 +planning_plugins: + - ompl_interface/OMPLPlanner +request_adapters: + - default_planning_request_adapters/ResolveConstraintFrames + - default_planning_request_adapters/ValidateWorkspaceBounds + - default_planning_request_adapters/CheckStartStateBounds + - default_planning_request_adapters/CheckStartStateCollision +response_adapters: + - default_planning_response_adapters/AddTimeOptimalParameterization + - default_planning_response_adapters/ValidateSolution + - default_planning_response_adapters/DisplayMotionPath planner_configs: SBLkConfigDefault: type: geometric::SBL