what's the lower and upper limit for a floating joint in urdf?

asked 2020-08-18 20:50:44 -0500

xibeisiber gravatar image

Hi all,

I intend to use a floating joint in my model, and give a certain limit (t_ll, t_ul) to the translation freedom and another certain limit (r_ll, r_ul) to the rotation freedom.

But in the floating joint example , there is only one lower and one upper limit: <limit effort="30" velocity="1.0" lower="-2.2" upper="0.7" />. What do these two limits mean? Can I set two limit ranges (t_ll, t_ul) and (r_ll, r_ul)?

Thanks for any suggestion!

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I am not sure what your ROS version/ exact use case is, but maybe it is useful to keep in mind that floating joints are somewhat deprecated .. see ros/robot_model#188

rfn123 gravatar image rfn123  ( 2020-08-19 03:38:45 -0500 )edit

Thanks for your reply. Currently I use 6 dummy links to mimic the 6DOF joint...

xibeisiber gravatar image xibeisiber  ( 2020-08-19 03:52:15 -0500 )edit

@xibeisiber Those limits are explained here.

Weasfas gravatar image Weasfas  ( 2020-08-20 06:23:31 -0500 )edit