JointLimits

Caps the joint values to the allowed limits as defined in the robot's URDF file. It also allows to lock the start and goal positions

  - class: stomp_moveit/JointLimits
    lock_start: True
    lock_goal: True

• class: The class name
• lock_start: True to lock the start joint pose
• lock_goal: True to lock the goal joint pose