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Why don't overridden joints limits (via joint_limits.yaml) get passed to MoveIt IK plugins?

asked 2018-12-10 10:54:21 -0500

BrettHemes gravatar image

It seems to be the case the the URDF limits are used in the IK calls and the overridden values via joint_limits.yaml are only used in higher-up planning calls? Can someone explain why this is?

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Did you figure out why? Any work-around?

zkytony gravatar image zkytony  ( 2019-01-19 10:30:24 -0500 )edit

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answered 2019-01-21 06:43:39 -0500

v4hn gravatar image

updated 2019-01-21 06:44:01 -0500

This is currently a shortcoming in the robot model loader code as well as a design flaw in the IK plugins API that we recently addressed.

(1) The RML reads joint limits from ~/robot_description_planning/joint_limits (note the private namespace!) and does not fallback to move_group/robot_description_planning/joint_limits.

(2) ttbomk all IK plugins except for the KDL plugin currently parse the URDF themselves and do not implement the new API yet. In this case the IK plugins would have to lookup and apply the limits on their own model and I don't think anyone does that.

A tested patch for (1) is very welcome in the MoveIt repository.

I believe most plugin maintainers would be happy to get contributed patches for (2) too.

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Asked: 2018-12-10 10:54:21 -0500

Seen: 1,309 times

Last updated: Jan 21 '19