Has anybody been able to get the limits to work for the second axis on a revolute2 joint? Here is the model SDF I'm using:
<joint name="FL_Joint" type="revolute2">
<parent>Link1</parent>
<child>Link2</child>
<pose>0 0 0 0 0 0</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.785398</lower>
<upper>0.785398</upper>
</limit>
</axis>
<axis2>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.785398</lower>
<upper>0.785398</upper>
</limit>
</axis2>
</joint>
The limits work for the first axis, but not for the second axis. Any thoughts?
