copied qp_controller.py and related files from lib_motion_graph_reset…

… and adjusted limits for pr2 and hsr
SemRoCo · Nov 27, 2024 · 84e5baa · 84e5baa
1 parent 37dfbea
commit 84e5baa
Show file tree

Hide file tree

Showing 3 changed files with 10 additions and 10 deletions.
diff --git a/src/giskardpy_ros/configs/behavior_tree_config.py b/src/giskardpy_ros/configs/behavior_tree_config.py
@@ -13,7 +13,7 @@
 
 class BehaviorTreeConfig(ABC):
 
-    def __init__(self, mode: ControlModes, control_loop_max_hz: float = 50, simulation_max_hz: Optional[float] = None):
+    def __init__(self, mode: ControlModes, control_loop_max_hz: float = 80, simulation_max_hz: Optional[float] = None):
         """
 
         :param mode: Defines the default setup of the behavior tree.

diff --git a/src/giskardpy_ros/configs/iai_robots/hsr.py b/src/giskardpy_ros/configs/iai_robots/hsr.py
@@ -30,7 +30,7 @@ def setup(self):
         self.set_default_color(1, 1, 1, 1)
         self.set_default_limits({Derivatives.velocity: 1,
                                  Derivatives.acceleration: np.inf,
-                                 Derivatives.jerk: 30})
+                                 Derivatives.jerk: 711})
         self.add_empty_link(PrefixName(self.map_name))
         self.add_6dof_joint(parent_link=self.map_name, child_link=self.odom_link_name,
                             joint_name=self.localization_joint_name)
@@ -45,17 +45,17 @@ def setup(self):
                                   yaw_vel_name=PrefixName('odom_t', self.robot_group_name),
                                   translation_limits={
                                       Derivatives.velocity: 0.2,
-                                      Derivatives.acceleration: 1,
-                                      Derivatives.jerk: 6,
+                                      Derivatives.acceleration: np.inf,
+                                      Derivatives.jerk: 142,
                                   },
                                   rotation_limits={
                                       Derivatives.velocity: 0.2,
-                                      Derivatives.acceleration: 1,
-                                      Derivatives.jerk: 6
+                                      Derivatives.acceleration: np.inf,
+                                      Derivatives.jerk: 142
                                   },
                                   robot_group_name=self.robot_group_name)
         self.set_joint_limits(limit_map={
-            Derivatives.jerk: 10,
+            Derivatives.jerk: 107,
         },
             joint_name='arm_lift_joint')
 

diff --git a/src/giskardpy_ros/configs/iai_robots/pr2.py b/src/giskardpy_ros/configs/iai_robots/pr2.py
@@ -21,10 +21,10 @@ def __init__(self, map_name: str = 'map', localization_joint_name: str = 'locali
     def setup(self, robot_name: Optional[str] = None):
         super().setup(robot_name)
         self.set_joint_limits(limit_map={Derivatives.velocity: 2,
-                                         Derivatives.jerk: 60},
+                                         Derivatives.jerk: 1422},
                               joint_name='head_pan_joint')
-        self.set_joint_limits(limit_map={Derivatives.velocity: 4,
-                                         Derivatives.jerk: 120},
+        self.set_joint_limits(limit_map={Derivatives.velocity: 3.5,
+                                         Derivatives.jerk: 2489},
                               joint_name='head_tilt_joint')