Use RobotModel joint limits and support acceleration (and maybe jerk) constraints

moveit / moveit_drake

Experimental repository for Moveit2 - Drake integration

BSD 3-Clause "New" or "Revised" License

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Use RobotModel joint limits and support acceleration (and maybe jerk) constraints #45

Open sea-bass opened 3 days ago

sea-bass commented 3 days ago

Add joint position, velocity and acceleration limits.

kamiradi commented 18 hours ago

@sea-bass @sjahr I remember that you had shown way to get these limits from RobotModel. Can you comment with necessary links for the sake of documentation and implementation.

Current options include

Reading it from the URDF/SRDF directly
VariableBounds within robot_model::JointModel class

Any other option I may be missing, or correction in the existing?

sea-bass commented 14 hours ago

You can extract them from the robot model as in here:

https://github.com/moveit/moveit2/blob/489d99617932a453057c03134e04e68092b8a189/moveit_ros/moveit_servo/src/servo.cpp#L484

https://github.com/moveit/moveit2/blob/489d99617932a453057c03134e04e68092b8a189/moveit_ros/moveit_servo/src/utils/common.cpp#L390