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Fix fallback limits for prismatic joints in Ruckig smoothing #3783

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Fix fallback limits for prismatic joints in Ruckig smoothing #3783

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73 changes: 55 additions & 18 deletions moveit_core/trajectory_processing/src/ruckig_traj_smoothing.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,16 +40,20 @@
#include <Eigen/Geometry>
#include <limits>
#include <moveit/trajectory_processing/ruckig_traj_smoothing.hpp>
#include <moveit/robot_model/joint_model.hpp>
#include <vector>
#include <moveit/utils/logger.hpp>

namespace trajectory_processing
{
namespace
{
constexpr double DEFAULT_MAX_VELOCITY = 5; // rad/s
constexpr double DEFAULT_MAX_ACCELERATION = 10; // rad/s^2
constexpr double DEFAULT_MAX_JERK = 1000; // rad/s^3
constexpr double DEFAULT_MAX_VELOCITY = 5; // rad/s
constexpr double DEFAULT_MAX_ACCELERATION = 10; // rad/s^2
constexpr double DEFAULT_MAX_JERK = 1000; // rad/s^3
constexpr double DEFAULT_MAX_VELOCITY_PRISMATIC = 0.5; // m/s
constexpr double DEFAULT_MAX_ACCELERATION_PRISMATIC = 1.0; // m/s^2
constexpr double DEFAULT_MAX_JERK_PRISMATIC = 100.0; // m/s^3
constexpr double MAX_DURATION_EXTENSION_FACTOR = 50.0;
constexpr double DURATION_EXTENSION_FRACTION = 1.1;
// If "mitigate_overshoot" is enabled, overshoot is checked with this timestep
Expand Down Expand Up @@ -201,6 +205,8 @@ bool RuckigSmoothing::getRobotModelBounds(const double max_velocity_scaling_fact
for (size_t i = 0; i < num_dof; ++i)
{
const moveit::core::VariableBounds& bounds = rmodel.getVariableBounds(vars.at(i));
const moveit::core::JointModel* joint_model = rmodel.getJointOfVariable(vars.at(i));
const bool is_prismatic = joint_model && (joint_model->getType() == moveit::core::JointModel::PRISMATIC);

// This assumes min/max bounds are symmetric
if (bounds.velocity_bounded_)
Expand All @@ -209,35 +215,66 @@ bool RuckigSmoothing::getRobotModelBounds(const double max_velocity_scaling_fact
}
else
{
RCLCPP_WARN_STREAM_ONCE(getLogger(),
"Joint velocity limits are not defined. Using the default "
<< DEFAULT_MAX_VELOCITY
<< " rad/s. You can define velocity limits in the URDF or joint_limits.yaml.");
ruckig_input.max_velocity.at(i) = max_velocity_scaling_factor * DEFAULT_MAX_VELOCITY;
if (is_prismatic)
{
RCLCPP_WARN_STREAM_ONCE(getLogger(),
"Joint velocity limits are not defined. Using the default "
<< DEFAULT_MAX_VELOCITY_PRISMATIC
<< " m/s. You can define velocity limits in the URDF or joint_limits.yaml.");
ruckig_input.max_velocity.at(i) = max_velocity_scaling_factor * DEFAULT_MAX_VELOCITY_PRISMATIC;
}
else
{
RCLCPP_WARN_STREAM_ONCE(getLogger(),
"Joint velocity limits are not defined. Using the default "
<< DEFAULT_MAX_VELOCITY
<< " rad/s. You can define velocity limits in the URDF or joint_limits.yaml.");
ruckig_input.max_velocity.at(i) = max_velocity_scaling_factor * DEFAULT_MAX_VELOCITY;
}
}
if (bounds.acceleration_bounded_)
{
ruckig_input.max_acceleration.at(i) = max_acceleration_scaling_factor * bounds.max_acceleration_;
}
else
{
RCLCPP_WARN_STREAM_ONCE(getLogger(),
"Joint acceleration limits are not defined. Using the default "
<< DEFAULT_MAX_ACCELERATION
<< " rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml.");
ruckig_input.max_acceleration.at(i) = max_acceleration_scaling_factor * DEFAULT_MAX_ACCELERATION;
if (is_prismatic)
{
RCLCPP_WARN_STREAM_ONCE(getLogger(),
"Joint acceleration limits are not defined. Using the default "
<< DEFAULT_MAX_ACCELERATION_PRISMATIC
<< " m/s^2. You can define acceleration limits in the URDF or joint_limits.yaml.");
ruckig_input.max_acceleration.at(i) = max_acceleration_scaling_factor * DEFAULT_MAX_ACCELERATION_PRISMATIC;
}
else
{
RCLCPP_WARN_STREAM_ONCE(
getLogger(), "Joint acceleration limits are not defined. Using the default "
<< DEFAULT_MAX_ACCELERATION
<< " rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml.");
ruckig_input.max_acceleration.at(i) = max_acceleration_scaling_factor * DEFAULT_MAX_ACCELERATION;
}
}
ruckig_input.max_jerk.at(i) = bounds.jerk_bounded_ ? bounds.max_jerk_ : DEFAULT_MAX_JERK;
if (bounds.jerk_bounded_)
{
ruckig_input.max_jerk.at(i) = bounds.max_jerk_;
}
else
{
RCLCPP_WARN_STREAM_ONCE(getLogger(), "Joint jerk limits are not defined. Using the default "
<< DEFAULT_MAX_JERK
<< " rad/s^3. You can define jerk limits in joint_limits.yaml.");
ruckig_input.max_jerk.at(i) = DEFAULT_MAX_JERK;
if (is_prismatic)
{
RCLCPP_WARN_STREAM_ONCE(getLogger(), "Joint jerk limits are not defined. Using the default "
<< DEFAULT_MAX_JERK_PRISMATIC
<< " m/s^3. You can define jerk limits in joint_limits.yaml.");
ruckig_input.max_jerk.at(i) = DEFAULT_MAX_JERK_PRISMATIC;
}
else
{
RCLCPP_WARN_STREAM_ONCE(getLogger(), "Joint jerk limits are not defined. Using the default "
<< DEFAULT_MAX_JERK
<< " rad/s^3. You can define jerk limits in joint_limits.yaml.");
ruckig_input.max_jerk.at(i) = DEFAULT_MAX_JERK;
}
}
}

Expand Down
132 changes: 132 additions & 0 deletions moveit_core/trajectory_processing/test/test_ruckig_traj_smoothing.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -167,6 +167,138 @@ TEST_F(RuckigTests, single_waypoint)
}
}

TEST(RuckigTestsPrismatic, prismatic_joint_defaults)
{
moveit::core::RobotModelBuilder builder("prismatic_bot", "base_link");
builder.addChain("base_link->link1", "prismatic", {}, { 1.0, 0.0, 0.0 });
builder.addGroup({ "base_link", "link1" }, { "base_link-link1-joint" }, "prismatic_group");
moveit::core::RobotModelPtr robot_model = builder.build();
ASSERT_TRUE(robot_model != nullptr);

// Set up trajectory with 2 waypoints
auto trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(robot_model, "prismatic_group");

moveit::core::RobotState robot_state(robot_model);
robot_state.setToDefaultValues();
robot_state.setVariablePosition("base_link-link1-joint", 0.0);
robot_state.update();
trajectory->addSuffixWayPoint(robot_state, 0.0);

robot_state.setVariablePosition("base_link-link1-joint", 1.5);
robot_state.update();
trajectory->addSuffixWayPoint(robot_state, 2.0);

trajectory_processing::RuckigSmoothing smoother;
EXPECT_TRUE(
smoother.applySmoothing(*trajectory, 1.0 /* max vel scaling factor */, 1.0 /* max accel scaling factor */));

// The distance is 1.5 meters.
// The default maximum velocity for a prismatic joint is 0.5 m/s.
// The default maximum acceleration is 1.0 m/s^2.
// Using Ruckig, the total duration T must satisfy the velocity constraint:
// T >= distance / max_velocity = 1.5 / 0.5 = 3.0 seconds.
double duration = trajectory->getWayPointDurationFromStart(trajectory->getWayPointCount() - 1);
EXPECT_GE(duration, 3.0);
}

TEST(RuckigTestsPrismatic, multi_joint_indexing)
{
moveit::core::RobotModelBuilder builder("multi_joint_bot", "base_link");
builder.addChain("base_link->link1", "revolute", {}, { 0.0, 0.0, 1.0 });
builder.addChain("link1->link2", "prismatic", {}, { 1.0, 0.0, 0.0 });
builder.addChain("link2->link3", "revolute", {}, { 0.0, 0.0, 1.0 });
builder.addGroup({ "base_link", "link1", "link2", "link3" },
{ "base_link-link1-joint", "link1-link2-joint", "link2-link3-joint" }, "multi_group");
moveit::core::RobotModelPtr robot_model = builder.build();
ASSERT_TRUE(robot_model != nullptr);

trajectory_processing::RuckigSmoothing smoother;

// Test 1: Only Joint 1 (revolute) moves. It should use the revolute default limit (5.0 rad/s), so duration should be short (< 1.0s).
{
auto trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(robot_model, "multi_group");
moveit::core::RobotState robot_state(robot_model);
robot_state.setToDefaultValues();
robot_state.setVariablePosition("base_link-link1-joint", 0.0);
robot_state.setVariablePosition("link1-link2-joint", 0.0);
robot_state.setVariablePosition("link2-link3-joint", 0.0);
robot_state.update();
trajectory->addSuffixWayPoint(robot_state, 0.0);

robot_state.setVariablePosition("base_link-link1-joint", 1.0);
robot_state.update();
trajectory->addSuffixWayPoint(robot_state, 0.2);

EXPECT_TRUE(smoother.applySmoothing(*trajectory, 1.0, 1.0));
double duration = trajectory->getWayPointDurationFromStart(trajectory->getWayPointCount() - 1);
EXPECT_LT(duration, 1.0);
}

// Test 2: Only Joint 2 (prismatic) moves. It should use the prismatic default limit (0.5 m/s), so duration should be
// long (>= 3.0s for 1.5m).
{
auto trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(robot_model, "multi_group");
moveit::core::RobotState robot_state(robot_model);
robot_state.setToDefaultValues();
robot_state.setVariablePosition("base_link-link1-joint", 0.0);
robot_state.setVariablePosition("link1-link2-joint", 0.0);
robot_state.setVariablePosition("link2-link3-joint", 0.0);
robot_state.update();
trajectory->addSuffixWayPoint(robot_state, 0.0);

robot_state.setVariablePosition("link1-link2-joint", 1.5);
robot_state.update();
trajectory->addSuffixWayPoint(robot_state, 2.0);

EXPECT_TRUE(smoother.applySmoothing(*trajectory, 1.0, 1.0));
double duration = trajectory->getWayPointDurationFromStart(trajectory->getWayPointCount() - 1);
EXPECT_GE(duration, 3.0);
}

// Test 3: Only Joint 3 (revolute) moves. It should use the revolute default limit (5.0 rad/s), so duration should be short (< 1.0s).
{
auto trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(robot_model, "multi_group");
moveit::core::RobotState robot_state(robot_model);
robot_state.setToDefaultValues();
robot_state.setVariablePosition("base_link-link1-joint", 0.0);
robot_state.setVariablePosition("link1-link2-joint", 0.0);
robot_state.setVariablePosition("link2-link3-joint", 0.0);
robot_state.update();
trajectory->addSuffixWayPoint(robot_state, 0.0);

robot_state.setVariablePosition("link2-link3-joint", 1.0);
robot_state.update();
trajectory->addSuffixWayPoint(robot_state, 0.2);

EXPECT_TRUE(smoother.applySmoothing(*trajectory, 1.0, 1.0));
double duration = trajectory->getWayPointDurationFromStart(trajectory->getWayPointCount() - 1);
EXPECT_LT(duration, 1.0);
}

// Test 4: All three joints move simultaneously. The duration should be constrained by the slowest joint (Joint 2,
// prismatic), so duration >= 3.0s.
{
auto trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(robot_model, "multi_group");
moveit::core::RobotState robot_state(robot_model);
robot_state.setToDefaultValues();
robot_state.setVariablePosition("base_link-link1-joint", 0.0);
robot_state.setVariablePosition("link1-link2-joint", 0.0);
robot_state.setVariablePosition("link2-link3-joint", 0.0);
robot_state.update();
trajectory->addSuffixWayPoint(robot_state, 0.0);

robot_state.setVariablePosition("base_link-link1-joint", 1.0);
robot_state.setVariablePosition("link1-link2-joint", 1.5);
robot_state.setVariablePosition("link2-link3-joint", 1.0);
robot_state.update();
trajectory->addSuffixWayPoint(robot_state, 2.0);

EXPECT_TRUE(smoother.applySmoothing(*trajectory, 1.0, 1.0));
double duration = trajectory->getWayPointDurationFromStart(trajectory->getWayPointCount() - 1);
EXPECT_GE(duration, 3.0);
}
}

int main(int argc, char** argv)
{
testing::InitGoogleTest(&argc, argv);
Expand Down