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Enhance joint limits and add acceleration scaling to MoveToNamedPose service

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This commit is contained in:
Даниил Грабарь
2026-05-15 07:20:26 +03:00
parent 99215c0b20
commit 86cf252a87
12 changed files with 40 additions and 57 deletions
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src/iiwa_config/config/moveit/joint_limits.yaml
+17 -10
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@@ -16,7 +16,8 @@ joint_limits:
max_velocity: 1.71
has_acceleration_limits: true
max_acceleration: 8.5521
has_jerk_limits: false
has_jerk_limits: true
max_jerk: 85.0
joint2:
has_position_limits: true
min_position: -2.09
@@ -25,7 +26,8 @@ joint_limits:
max_velocity: 1.71
has_acceleration_limits: true
max_acceleration: 8.5521
has_jerk_limits: false
has_jerk_limits: true
max_jerk: 85.0
joint3:
has_position_limits: true
min_position: -2.97
@@ -34,7 +36,8 @@ joint_limits:
max_velocity: 1.75
has_acceleration_limits: true
max_acceleration: 8.7266
has_jerk_limits: false
has_jerk_limits: true
max_jerk: 87.0
joint4:
has_position_limits: true
min_position: -2.09
@@ -43,32 +46,36 @@ joint_limits:
max_velocity: 2.27
has_acceleration_limits: true
max_acceleration: 11.3446
has_jerk_limits: false
has_jerk_limits: true
max_jerk: 113.0
joint5:
has_position_limits: true
min_position: -2.97
max_position: 2.97
has_velocity_limits: true
max_velocity: 2.4399999999999999
max_velocity: 2.44
has_acceleration_limits: true
max_acceleration: 12.2173
has_jerk_limits: false
has_jerk_limits: true
max_jerk: 122.0
joint6:
has_position_limits: true
min_position: -2.09
max_position: 2.09
has_velocity_limits: true
max_velocity: 3.1400000000000001
max_velocity: 3.14
has_acceleration_limits: true
max_acceleration: 15.7080
has_jerk_limits: false
has_jerk_limits: true
max_jerk: 157.0
joint7:
has_position_limits: true
min_position: -3.05
max_position: 3.05
has_velocity_limits: true
max_velocity: 3.1400000000000001
max_velocity: 3.14
has_acceleration_limits: true
max_acceleration: 15.7080
has_jerk_limits: false
has_jerk_limits: true
max_jerk: 157.0