From 12bdb0e44a4aa3576ceae18591e59badd131085b Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Thu, 10 Oct 2024 14:13:30 -0600 Subject: [PATCH] Update dynamic parameters Signed-off-by: Paul Gesel --- .../config/moveit/hard_joint_limits.yaml | 10 +++++----- src/arm_on_rail_sim/description/ur5e.xml | 10 +++++++--- 2 files changed, 12 insertions(+), 8 deletions(-) diff --git a/src/arm_on_rail_sim/config/moveit/hard_joint_limits.yaml b/src/arm_on_rail_sim/config/moveit/hard_joint_limits.yaml index 60ddbf2c..53b218df 100644 --- a/src/arm_on_rail_sim/config/moveit/hard_joint_limits.yaml +++ b/src/arm_on_rail_sim/config/moveit/hard_joint_limits.yaml @@ -15,7 +15,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_acceleration: 0.1 + max_acceleration: 10.0 max_effort: 150.0 max_position: 2.9 max_velocity: 0.175 @@ -25,7 +25,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_acceleration: !degrees 90.0 + max_acceleration: !degrees 180.0 max_effort: 150.0 max_position: !degrees 180.0 max_velocity: !degrees 30.0 @@ -35,7 +35,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_acceleration: !degrees 90.0 + max_acceleration: !degrees 180.0 max_effort: 150.0 max_position: !degrees 90.0 max_velocity: !degrees 30.0 @@ -45,7 +45,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_acceleration: !degrees 90.0 + max_acceleration: !degrees 180.0 max_effort: 150.0 # we artificially limit this joint to half its actual joint position limit # to avoid (MoveIt/OMPL) planning problems, as due to the physical @@ -65,7 +65,7 @@ joint_limits: has_effort_limits: true has_position_limits: true has_velocity_limits: true - max_acceleration: !degrees 90.0 + max_acceleration: !degrees 180.0 max_effort: 28.0 max_position: !degrees 180.0 max_velocity: !degrees 60.0 diff --git a/src/arm_on_rail_sim/description/ur5e.xml b/src/arm_on_rail_sim/description/ur5e.xml index 4e6f28c3..5970e239 100644 --- a/src/arm_on_rail_sim/description/ur5e.xml +++ b/src/arm_on_rail_sim/description/ur5e.xml @@ -11,8 +11,8 @@ gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" - gainprm="2000" - biasprm="0 -2000 -400" + gainprm="20000" + biasprm="0 -20000 -1000" forcerange="-150 150" /> @@ -22,7 +22,11 @@ - +