How do modify joint limits temporarily for one planning query

[peter-mitrano-bg]

I'd like to modify either the input yml, dict, RobotConfig, or MotionGen config some way to update the joint limits without permenantly modifying the URDF on disc. I see _update_joint_limits in cuda_robot_generator but that seems to be private, and probably can't be called after the _kinematics_config has been constructed.

So is there a way I can do this?

[xiaomengfang]

Hi, there, have you solved this problem?

[KySmith1]

@balakumar-s - bumping this for awareness as it's a feature we're looking for too. Similar question was asked back in August.

Is there any issue / alternative path to us updating joint limits as seen above? Making multiple configs of URDFs to communicate temporary joint constraints is a fine pattern for us.