.. _mode_joint_pos_vel:

Trajectory: Joint Position + Velocity
=====================================

.. note::

   The Streaming Mode ID for this mode is `2`.

.. dropdown:: Streaming Message Format

    .. figure:: /_static/streaming_messages/streaming_message_joint_pos_vel.drawio.svg
        :align: center


In `PosVel` mode, the robot is controlled by commanding the desired position as well as velocity per joint.
In order to use this mode, a trajectory generation algorithm is required that generates a feasible trajectory satisfying each joint's dynamic limits.
Please see below for suggested limits in streaming mode:

.. dropdown:: Joint Limits
   
    .. code-block:: bash
        :linenos:

        Joint Position: ±270 deg
        Joint Velocity:
            Drive 193: ±1.25 [rad / s]
            Drive 148: ±2.00 [rad / s]
            Drive 116: ±4.00 [rad / s]
            Drive  86: ±5.00 [rad / s]
        Joint Acceleration: ± 4.0 [rad / s2]
        Joint Jerk: ± 100.0 [rad / s3]

Internally, the robot will command the linear interpolation between the desired position and velocity of the oldest two buffer entries (FIFO) without further interpretation.