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Extend JointLimits class to include acceleration, deceleration and jerk limits

Open saikishor opened this issue 11 months ago • 4 comments

Add acceleration, deceleration and jerk limits to the JointLimits class to extend the URDF capabilities to limit them at lower levels

saikishor avatar Feb 16 '25 21:02 saikishor

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/allow-for-more-complex-joints-in-urdf/42234/3

ros-discourse avatar Feb 25 '25 14:02 ros-discourse

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/proposal-to-extend-jointlimits-in-urdf/42831/1

ros-discourse avatar Mar 26 '25 22:03 ros-discourse

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/proposal-to-extend-jointlimits-in-urdf/42831/2

ros-discourse avatar Mar 27 '25 09:03 ros-discourse

From https://github.com/ros/urdfdom/pull/212#discussion_r2051130899, if this change isn't going to be backported, wouldn't it be best to change the default values of other limits also as needed?

Amronos avatar Dec 28 '25 10:12 Amronos