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Limits

The limits of the joint. In order to fix the joint in the respective axis, the limits must be equal (i.e. 0,0). In order to not use limits, the lower must be greater than the upper and be located in the first or second quadrant positive or negative (i.e. -pi to pi)

Mandatory children:

  • lower: Lower joint limit. In radians for revolute joints and length for prismatic joints in m or rad.
    • Var: smtk_vector
    • Type: constant
    • Default value: 1
  • upper: Upper joint limit. In radians for revolute joints and length for prismatic joints in m or rad.
    • Var: smtk_vector
    • Type: constant
    • Default value: 0
  • effort: Maximum effort for the joint in N or N*m.
    • Var: smtk_vector
    • Type: constant
    • Default value: 1000
  • velocity: Maximum velocity for the joint in m/s or rad/s.
    • Var: smtk_vector
    • Type: constant
    • Default value: 1