Даниил Грабарь
0a091ad521
Use shared limits for all seven axes across MoveIt, URDF and FRI. Apply Ruckig smoothing and continuous JTC spline checks, stretching trajectory timing to respect velocity, acceleration and jerk limits. Require fresh stationary feedback for direct trajectories and protect preparation from concurrent submissions and stop requests. Add regression tests, dependencies and bilingual FRI documentation. Include the updated LIN speed-sweep scenario and current 60 ms filter configuration. Acceleration and jerk limits remain project settings; physical high-speed twitching is still under investigation.
17 lines
810 B
YAML
17 lines
810 B
YAML
planning_plugins:
|
|
- ompl_interface/OMPLPlanner
|
|
# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
|
|
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
|
|
- iiwa_planning/SetRestBoundary
|
|
- default_planning_response_adapters/AddRuckigTrajectorySmoothing
|
|
- iiwa_planning/SetRestBoundary
|
|
- iiwa_planning/LimitSplineDynamics
|
|
- default_planning_response_adapters/ValidateSolution
|
|
- default_planning_response_adapters/DisplayMotionPath
|