Joint Limits on Inverse Kinematic solver

[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). I saw in the examples page on the docs site this mentioned back in 2009, has this changed does such a solver exist? What would it take to get it implemented, I might be willing to try to do it, although I don't know much about the IK algorithms themselves

[jrutgeer]

I have no experience with this myself, but here is an overview of KDL solvers. I think you're looking for the KDL::ChainIkSolverPos_NR_JL. Possibly also TRAC-IK is relevant.