specifying joint velocity and jerk limits in specs file

[Robert Katzschmann]

joint position limits are already implemented in SRobotParsedData: {{{ #!c++

/* The joint limit doesn't go below this / Eigen::VectorXd joint_limit_min_;

/* The joint limit doesn't go below this / Eigen::VectorXd joint_limit_max_;

}}}

The following four new variables should be added to SRobotParsedData as well, I need them for example for path planning:

Eigen::VectorXd joint_velocity_limit_min_;

Eigen::VectorXd joint_velocity_limit_max_;

Eigen::VectorXd joint_jerk_limit_min_;

Eigen::VectorXd joint_jerk_limit_max_;

Velocity limits are usually provided by the robot manufacturer. The jerk limits are sometimes advised by the manufacturer for longer actuator life.

[Robert Katzschmann]

how would they be called in the specs file, where would that be defined?

[Samir Menon]

The cfg file has this now.