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Problem using Joint Limits

GaTt
Hi,

I have some troubles in specifying the joint limits for my custom robot. My XML joint definition looks like this:
    <Joint circular="true" name="Arm0" type="hinge">
      <Body>Base</Body>
      <Body>Arm0</Body>
      <offsetfrom>Arm0</offsetfrom>
      <axis>0 1 0</axis>
      <limitsdeg>0 90</limitsdeg>
          <weight>4</weight>     
      <maxvel>3</maxvel> 
      <resolution>1</resolution>
    </Joint> 
        <Joint circular="true" name="Arm1" type="hinge">
      <Body>Arm0</Body>
      <Body>Arm1</Body>
      <offsetfrom>Arm1</offsetfrom>
      <axis>0 0 1</axis>
      <limitsdeg>0 90</limitsdeg>
      <weight>4</weight>     
      <maxvel>3</maxvel> 
      <resolution>1</resolution>
    </Joint>

But when I want to check the Limits in Openrave or my controller, i get -10000, 10000 for both Joints.
Using Ipython It looks like this:

In [48]: env.GetRobots()[0].GetDOFLimits()
Out[48]: (array([-10000., -10000.]), array([ 10000.,  10000.]))

Did I miss something in my joint definition?
Greetings,
Clemens

PS: I am using the latest version on windows 8.1 x64.
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Re: Problem using Joint Limits

Rosen Diankov
Administrator
"circular" joints mean there are no limits. If you set "circular" to false, then you should get limits working again.


2014-05-07 22:00 GMT+09:00 GaTt <[hidden email]>:
Hi,

I have some troubles in specifying the joint limits for my custom robot. My
XML joint definition looks like this:
    <Joint circular="true" name="Arm0" type="hinge">
      <Body>Base</Body>
      <Body>Arm0</Body>
      <offsetfrom>Arm0</offsetfrom>
      <axis>0 1 0</axis>
      <limitsdeg>0 90</limitsdeg>
          <weight>4</weight>
      <maxvel>3</maxvel>
      <resolution>1</resolution>
    </Joint>
        <Joint circular="true" name="Arm1" type="hinge">
      <Body>Arm0</Body>
      <Body>Arm1</Body>
      <offsetfrom>Arm1</offsetfrom>
      <axis>0 0 1</axis>
      <limitsdeg>0 90</limitsdeg>
      <weight>4</weight>
      <maxvel>3</maxvel>
      <resolution>1</resolution>
    </Joint>

But when I want to check the Limits in Openrave or my controller, i get
-10000, 10000 for both Joints.
Using Ipython It looks like this:

In [48]: env.GetRobots()[0].GetDOFLimits()
Out[48]: (array([-10000., -10000.]), array([ 10000.,  10000.]))

Did I miss something in my joint definition?
Greetings,
Clemens

PS: I am using the latest version on windows 8.1 x64.



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Re: Problem using Joint Limits

GaTt
Thank you. This solved my problem!
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