Industrial motion PTP, LIN and CIRC are not yet released in MoveIt!. However, Pilz industrial motion has developed industrial motion plugins. During my implementation with iiwa7, I have encountered with joint velocity limit problems both in simulation and real hardware. In this new URDF, I have changed the joint velocity according to the KUKU IIWA 7 specification.
Currently, I can use PTP motion with the robot. But for LIN motion, I need joint acceleration limits as well, which I could not find it online. Also cartesian limits. Is possible that anyone could help me with this. I have posted this in pull request
Industrial motion PTP, LIN and CIRC are not yet released in MoveIt!. However, Pilz industrial motion has developed industrial motion plugins. During my implementation with iiwa7, I have encountered with joint velocity limit problems both in simulation and real hardware. In this new URDF, I have changed the joint velocity according to the KUKU IIWA 7 specification.
Currently, I can use PTP motion with the robot. But for LIN motion, I need joint acceleration limits as well, which I could not find it online. Also cartesian limits. Is possible that anyone could help me with this. I have posted this in pull request