URDF -> SDF ignores effort and velocity limits for continuous joints

asked 2020-01-15 15:29:06 -0500

Jenny B gravatar image


I've found that if I define a continuous joint in my URDF with velocity and effort limits (but not position limits because it is continuous), the converter to sdf creates a revolute joint with limits of +/- 1e16 (fine) but no effort or velocity limits (not fine). Is this a known bug?

I've been using the workaround of just declaring the joints as revolute with +/-1e16 limits in the URDF and that works but is a bit ugly.

I'm using gz from Gazebo 10.


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