Joint Trajectory Generation with Torque Limits
I recently fell over the term TOPPRA - Time Optimal Path Parameterization based on Reachability Analysis which seems to be treasure trove for finding robot trajectory parameterization. Esp. https://github.com/hungpham2511/toppra seems to actually solve our problem of finding a torque limited trajectory parameterization (https://hungpham2511.github.io/toppra/python_api.html#jointtorqueconstraint) based on our existing Pinocchio dynamics. + It is just a pip package.