Joint Angle limits for IK

[tmayoff]

I'm trying to look for an IK library that's able to take joint limits into account, (for example following limits of a human arm). This seemed promising however I'm struggling to understand the documentation. Are joint limits possible? If so how would I add them.

The JointConstraitSet seems like the answer but reading the documentation it seems like it's for constraining, for example the hand, to a certain position/orientation but can't constrain, for example the elbow, to a 'normal' human range.

Any clarifications you could provide would be very helpful, Thanks

[ju6ge]

@mjhmilla I think this is a question that you are the most qualified to answer ;)

[im-renpei]

Hi @tmayoff , have you found a solution to this problem?

[tmayoff]

Unfortunately not quite, I ended up writing a very simplified IK implementation myself, and will be moving to use ROS2's MoveIt for the more complicated stuff once we get to that point.