It would be nice to be able to add soft limits to joint axes as well as TCP pose at runtime. For joint axes it is simple, but for the TCP pose, it would be nice to be able to add 3D geometry which defines an "collision object". Before each move we'd check that at no point during the move does the robot collide with any configured collision objects. This could be similar to the planning scene in ROS2+MoveIt.
It would be nice to be able to add soft limits to joint axes as well as TCP pose at runtime. For joint axes it is simple, but for the TCP pose, it would be nice to be able to add 3D geometry which defines an "collision object". Before each move we'd check that at no point during the move does the robot collide with any configured collision objects. This could be similar to the planning scene in ROS2+MoveIt.