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Change to have acceleration limit and update OMPL configuration format #88

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Merged
Yadunund merged 1 commit into from
Jun 30, 2025
Merged

Change to have acceleration limit and update OMPL configuration format #88

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24 changes: 12 additions & 12 deletions robot_specific_config/abb_irb1200_5_90_moveit_config/config/joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
20 changes: 11 additions & 9 deletions robot_specific_config/abb_irb1200_5_90_moveit_config/config/ompl_planning.yaml
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Original file line number Diff line number Diff line change
@@ -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
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