URDF Multidimensional Joint Limits

Open mxgrey opened this issue 10 years ago • 1 comments

The URDF specification has a "limits" class which is only capable of specifying 1-dimensional position, velocity, and effort limits for joints, but it offers Planar (PlanarJoint) and Floating (FreeJoint) joint types which are multidimensional. It is not clear how to set multidimensional joint limits based on the 1-dimensional limits that are given. Should all dimensions be given the same joint limits?

For now, the joint limits specified within the URDF are ignored for multidimensional joints, and it is the responsibility of the user to set those limits after loading a URDF.

Feb 04 '15 16:02 mxgrey

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Feb 13 '18 20:02 stale[bot]