Update information about Ruckig and jerk limits (#168)

moveit · Apr 18, 2023 · 471e35e · 471e35e
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Showing 6 changed files with 42 additions and 13 deletions.
diff --git a/dual_arm_panda_moveit_config/config/joint_limits.yaml b/dual_arm_panda_moveit_config/config/joint_limits.yaml
@@ -1,100 +1,113 @@
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
-# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
-
-# As MoveIt! does not support jerk limits, the acceleration limits provided here are the highest values that guarantee
-# that no jerk limits will be violated. More precisely, applying Euler differentiation in the worst case (from min accel
-# to max accel in 1 ms) the acceleration limits are the ones that satisfy
-# max_jerk = (max_acceleration - min_acceleration) / 0.001
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits, has_jerk_limits]
 
 joint_limits:
   right_panda_joint1:
     has_velocity_limits: true
     max_velocity: 2.1750
     has_acceleration_limits: true
     max_acceleration: 3.75
+    has_jerk_limits: false
   right_panda_joint2:
     has_velocity_limits: true
     max_velocity: 2.1750
     has_acceleration_limits: true
     max_acceleration: 1.875
+    has_jerk_limits: false
   right_panda_joint3:
     has_velocity_limits: true
     max_velocity: 2.1750
     has_acceleration_limits: true
     max_acceleration: 2.5
+    has_jerk_limits: false
   right_panda_joint4:
     has_velocity_limits: true
     max_velocity: 2.1750
     has_acceleration_limits: true
     max_acceleration: 3.125
+    has_jerk_limits: false
   right_panda_joint5:
     has_velocity_limits: true
     max_velocity: 2.6100
     has_acceleration_limits: true
     max_acceleration: 3.75
+    has_jerk_limits: false
   right_panda_joint6:
     has_velocity_limits: true
     max_velocity: 2.6100
     has_acceleration_limits: true
     max_acceleration: 5.0
+    has_jerk_limits: false
   right_panda_joint7:
     has_velocity_limits: true
     max_velocity: 2.6100
     has_acceleration_limits: true
     max_acceleration: 5.0
+    has_jerk_limits: false
   right_panda_finger_joint1:
     has_velocity_limits: true
     max_velocity: 0.1
     has_acceleration_limits: false
     max_acceleration: 0.0
+    has_jerk_limits: false
   right_panda_finger_joint2:
     has_velocity_limits: true
     max_velocity: 0.1
     has_acceleration_limits: false
     max_acceleration: 0.0
+    has_jerk_limits: false
   left_panda_joint1:
     has_velocity_limits: true
     max_velocity: 2.1750
     has_acceleration_limits: true
     max_acceleration: 3.75
+    has_jerk_limits: false
   left_panda_joint2:
     has_velocity_limits: true
     max_velocity: 2.1750
     has_acceleration_limits: true
     max_acceleration: 1.875
+    has_jerk_limits: false
   left_panda_joint3:
     has_velocity_limits: true
     max_velocity: 2.1750
     has_acceleration_limits: true
     max_acceleration: 2.5
+    has_jerk_limits: false
   left_panda_joint4:
     has_velocity_limits: true
     max_velocity: 2.1750
     has_acceleration_limits: true
     max_acceleration: 3.125
+    has_jerk_limits: false
   left_panda_joint5:
     has_velocity_limits: true
     max_velocity: 2.6100
     has_acceleration_limits: true
     max_acceleration: 3.75
+    has_jerk_limits: false
   left_panda_joint6:
     has_velocity_limits: true
     max_velocity: 2.6100
     has_acceleration_limits: true
     max_acceleration: 5.0
+    has_jerk_limits: false
   left_panda_joint7:
     has_velocity_limits: true
     max_velocity: 2.6100
     has_acceleration_limits: true
     max_acceleration: 5.0
+    has_jerk_limits: false
   left_panda_finger_joint1:
     has_velocity_limits: true
     max_velocity: 0.1
     has_acceleration_limits: false
     max_acceleration: 0.0
+    has_jerk_limits: false
   left_panda_finger_joint2:
     has_velocity_limits: true
     max_velocity: 0.1
     has_acceleration_limits: false
     max_acceleration: 0.0
+    has_jerk_limits: false
diff --git a/dual_arm_panda_moveit_config/config/ompl_planning.yaml b/dual_arm_panda_moveit_config/config/ompl_planning.yaml
@@ -1,5 +1,7 @@
 planning_plugin: ompl_interface/OMPLPlanner
 request_adapters: >-
+  # Optionally use Ruckig for jerk-limited smoothing
+  # default_planner_request_adapters/AddRuckigTrajectorySmoothing
   default_planner_request_adapters/AddTimeOptimalParameterization
   default_planner_request_adapters/ResolveConstraintFrames
   default_planner_request_adapters/FixWorkspaceBounds

diff --git a/fanuc_moveit_config/config/joint_limits.yaml b/fanuc_moveit_config/config/joint_limits.yaml
@@ -1,6 +1,6 @@
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
-# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits, has_jerk_limits]
 
 # For beginners, we downscale velocity and acceleration limits.
 # You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
@@ -13,28 +13,34 @@ joint_limits:
     max_velocity: 3.67
     has_acceleration_limits: true
     max_acceleration: 0.734
+    has_jerk_limits: false
   joint_2:
     has_velocity_limits: true
     max_velocity: 3.32
     has_acceleration_limits: true
     max_acceleration: 0.664
+    has_jerk_limits: false
   joint_3:
     has_velocity_limits: true
     max_velocity: 3.67
     has_acceleration_limits: true
     max_acceleration: 0.734
+    has_jerk_limits: false
   joint_4:
     has_velocity_limits: true
     max_velocity: 6.98
     has_acceleration_limits: true
     max_acceleration: 1.396
+    has_jerk_limits: false
   joint_5:
     has_velocity_limits: true
     max_velocity: 6.98
     has_acceleration_limits: true
     max_acceleration: 1.396
+    has_jerk_limits: false
   joint_6:
     has_velocity_limits: true
     max_velocity: 10.47
     has_acceleration_limits: true
     max_acceleration: 2.094
+    has_jerk_limits: false
diff --git a/fanuc_moveit_config/config/ompl_planning.yaml b/fanuc_moveit_config/config/ompl_planning.yaml
@@ -1,5 +1,7 @@
 planning_plugin: ompl_interface/OMPLPlanner
 request_adapters: >-
+  # Optionally use Ruckig for jerk-limited smoothing
+  # default_planner_request_adapters/AddRuckigTrajectorySmoothing
   default_planner_request_adapters/AddTimeOptimalParameterization
   default_planner_request_adapters/ResolveConstraintFrames
   default_planner_request_adapters/FixWorkspaceBounds

diff --git a/panda_moveit_config/config/joint_limits.yaml b/panda_moveit_config/config/joint_limits.yaml
@@ -1,55 +1,59 @@
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
-# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
-
-# As MoveIt! does not support jerk limits, the acceleration limits provided here are the highest values that guarantee
-# that no jerk limits will be violated. More precisely, applying Euler differentiation in the worst case (from min accel
-# to max accel in 1 ms) the acceleration limits are the ones that satisfy
-# max_jerk = (max_acceleration - min_acceleration) / 0.001
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits, has_jerk_limits]
 
 joint_limits:
   panda_joint1:
     has_velocity_limits: true
     max_velocity: 2.1750
     has_acceleration_limits: true
     max_acceleration: 3.75
+    has_jerk_limits: false
   panda_joint2:
     has_velocity_limits: true
     max_velocity: 2.1750
     has_acceleration_limits: true
     max_acceleration: 1.875
+    has_jerk_limits: false
   panda_joint3:
     has_velocity_limits: true
     max_velocity: 2.1750
     has_acceleration_limits: true
     max_acceleration: 2.5
+    has_jerk_limits: false
   panda_joint4:
     has_velocity_limits: true
     max_velocity: 2.1750
     has_acceleration_limits: true
     max_acceleration: 3.125
+    has_jerk_limits: false
   panda_joint5:
     has_velocity_limits: true
     max_velocity: 2.6100
     has_acceleration_limits: true
     max_acceleration: 3.75
+    has_jerk_limits: false
   panda_joint6:
     has_velocity_limits: true
     max_velocity: 2.6100
     has_acceleration_limits: true
     max_acceleration: 5.0
+    has_jerk_limits: false
   panda_joint7:
     has_velocity_limits: true
     max_velocity: 2.6100
     has_acceleration_limits: true
     max_acceleration: 5.0
+    has_jerk_limits: false
   panda_finger_joint1:
     has_velocity_limits: true
     max_velocity: 0.1
     has_acceleration_limits: true
     max_acceleration: 1.0
+    has_jerk_limits: false
   panda_finger_joint2:
     has_velocity_limits: true
     max_velocity: 0.1
     has_acceleration_limits: true
     max_acceleration: 1.0
+    has_jerk_limits: false
diff --git a/panda_moveit_config/config/ompl_planning.yaml b/panda_moveit_config/config/ompl_planning.yaml
@@ -1,5 +1,7 @@
 planning_plugin: ompl_interface/OMPLPlanner
 request_adapters: >-
+  # Optionally use Ruckig for jerk-limited smoothing
+  # default_planner_request_adapters/AddRuckigTrajectorySmoothing
   default_planner_request_adapters/AddTimeOptimalParameterization
   default_planner_request_adapters/ResolveConstraintFrames
   default_planner_request_adapters/FixWorkspaceBounds