Update default limits for the joint limits and safety limits#249
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Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
…ting based on the urdf version Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
scpeters
reviewed
Apr 9, 2026
| - **Jerk limit**: The `jerk` attribute specifies the maximum joint jerk (rate of change of acceleration) | ||
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| Version 1.2 also relaxes some requirements on the existing joint limit attributes: | ||
| - `lower` and `upper` are optional for non-`revolute`/non-`prismatic` joints and default to `NaN` when omitted |
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cross-posting my comment from ros/urdfdom_headers#95 (review): how do you feel about default values of -Inf for lower and +Inf for upper instead of NaN? this would match the default values used in SDFormat
Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Amronos
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Apr 9, 2026
scpeters
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Apr 20, 2026
scpeters
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Apr 20, 2026
FFinkbeiner
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Jun 8, 2026
* Change the XSD defaults of position, velocity and effort limits * Change the XSD defaults of the soft upper and lower limit * verify the parsed limits based on URDF version Signed-off-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com> Co-authored-by: Steve Peters <scpeters@intrinsic.ai>
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Related to ros/urdfdom_headers#95