Dynamics with MoveIt trajectories

For the longest time, MoveIt trajectories didn’t have any knowledge of robot dynamics. You could specify velocity, acceleration, and jerk limits for the trajectory but those were static values that didn’t take robot payload or other dynamics into account.

Well, the new Iterative Torque Limit Parameterization algorithm allows the user to specify torque limits and the trajectory will “slow down” until it respects them. The user can also specify the external wrench on the robot (e.g. payload).

This is just in MoveIt1 master branch for now; coming to MoveIt2 soon.