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You can swet the lower and upper limits of a joint (including prismatic) using the following tags:

http://sdformat.org/spec?ver=1.6&elem=joint#limit_lower

If this wasn't what you were asking comment on this answer

You can swet set the lower and upper limits of a joint (including prismatic) using the following tags:

http://sdformat.org/spec?ver=1.6&elem=joint#limit_lower

If this wasn't what you were asking comment on this answer