Add velocity limits component and method to Joint class (#2664) #2818
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ahcorde
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Mar 10, 2025
.vscode/settings.json
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| * Copyright (C) 2021 Open Source Robotics Foundation | |||
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| * Copyright (C) 2021 Open Source Robotics Foundation | |
| * Copyright (C) 2025 Open Source Robotics Foundation |
mo-zaghloul
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Hi @ahcorde, Thanks for the review! I’ve updated the copyright year as suggested. I also noticed check failures in my PR, and I was wondering if I should be targeting gz-sim9 instead of gz-sim8. Since the issue originally appeared in gz-sim8, I based my PR on that branch, but I’d appreciate any guidance on whether I should rebase it to gz-sim9 instead. Looking forward to your feedback! Thanks! |
Signed-off-by: Mohamed Zaghloul <zaghloulmohamed9@gmail.com>
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🎉 New feature
Closes #2664
Summary
This PR introduces the
JointVelocityLimitscomponent and starts integrating it into theJointclass and physics system. However, I need guidance on completing the physics implementation.Changes in this PR
JointVelocityLimits.hhcomponent to store joint velocity limits.Joint.cc.Physics.cc(incomplete, need guidance).Test it
The component has been added, but since the physics integration is incomplete, full testing isn't possible yet. Once I receive guidance on the correct approach, I will add appropriate tests.
Guidance Needed
I am currently stuck on integrating velocity limits correctly into the physics system. Specifically, I would appreciate guidance on:
Checklist
JointVelocityLimitscodecheckpassed (See contributing)