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allow the gripper to close faster we implemented a way to pass joint accel from the openpi-beta #2

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allow the gripper to close faster we implemented a way to pass joint accel from the openpi-beta #2

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29 changes: 29 additions & 0 deletions native/pi_control/src/pi_joint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -210,6 +210,35 @@ ReturnCode Joint::init_config_individual(const json& joint_config, const DeviceC
return ReturnCode::INVALID_PARAM;
}

// Optional per-instance motion-limit overrides. The individual config
// (effector_instance_config) may raise/lower the joint's velocity and
// acceleration limits without a separate effector model -- e.g. openpi-beta
// sets a faster gripper close speed in its per-arm calibration JSON. Absent
// fields keep the model-config value (init_config_model runs first).
if (p_config->get_field_value(joint_config, p_config->fn_joint_vel_max, vel_max_) == ReturnCode::SUCCESS) {
PI_INFO("Joint", InfoLevel::HELPFUL_1, "Joint %d: vel_max override=%.3f", id_, vel_max_);
}
if (p_config->get_field_value(joint_config, p_config->fn_joint_accel_max, accel_max_) == ReturnCode::SUCCESS) {
PI_INFO("Joint", InfoLevel::HELPFUL_1, "Joint %d: accel_max override=%.3f", id_, accel_max_);
}
if (p_config->get_field_value(joint_config, p_config->fn_joint_follow_vel_max, follow_vel_max_) ==
ReturnCode::SUCCESS) {
follow_vel_max_configured_ = true;
PI_INFO("Joint", InfoLevel::HELPFUL_1, "Joint %d: follow_vel_max override=%.3f", id_, follow_vel_max_);
} else if (!follow_vel_max_configured_) {
// follow_vel_max was never set explicitly; keep it tracking the
// (possibly overridden) vel_max.
follow_vel_max_ = vel_max_;
}

if (!std::isfinite(vel_max_) || vel_max_ <= 0.0f || !std::isfinite(accel_max_) || accel_max_ <= 0.0f ||
!std::isfinite(follow_vel_max_) || follow_vel_max_ <= 0.0f) {
PI_ERROR("Joint %d: vel_max/accel_max/follow_vel_max must be finite and positive after individual "
"overrides (vel_max=%.3f accel_max=%.3f follow_vel_max=%.3f)",
id_, vel_max_, accel_max_, follow_vel_max_);
return ReturnCode::INVALID_PARAM;
}

return ReturnCode::SUCCESS;
}

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