Torque/velocity constraints on joints using PD control

[dyspr0sium]

Hi,

Is there any way to respect the joint torque/velocity limits defined in a URDF file, e.g.

<limit
      lower="-2.1"
      upper="0.3"
      effort="1.5"
      velocity="6.2" />

while using PD_PLUS_FEEDFORWARD_TORQUE control mode? I know that the P and D gains directly affect the output torque and therefore joint velocity, but shouldn't they still be constrained by the torque and velocity limits of each joint?

[jhwangbo]

You can set the torque limit by the '''setActuationLimit''' method. The current version doesnt read it from the urdf. You have to set it in the code. Velocity limit is complicated. Since there can be external forces, hard constraining the velocity doesnt make sense to me.