Struct SoftJointLimits
Defined in File joint_limits.hpp
Struct Documentation
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struct SoftJointLimits
SoftJointLimits stores values from the
<safety_controller>tag of URDF. The meaning of the fields are:An element can contain the following attributes:
soft_lower_limit (optional, defaults to 0) - An attribute specifying the lower joint boundary where the safety controller starts limiting the position of the joint. This limit needs to be larger than the lower joint limit (see above). See See safety limits for more details.
soft_upper_limit (optional, defaults to 0) - An attribute specifying the upper joint boundary where the safety controller starts limiting the position of the joint. This limit needs to be smaller than the upper joint limit (see above). See See safety limits for more details.
k_position (optional, defaults to 0) - An attribute specifying the relation between position and velocity limits. See See safety limits for more details.
k_velocity (required) - An attribute specifying the relation between effort and velocity limits. See See safety limits for more details.