UrdfLimit

Fully qualified name: isaacsim::asset::importer::urdf::UrdfLimit

struct UrdfLimit

Joint motion limits for URDF joints.

Defines the allowable range of motion, maximum effort, and maximum velocity for joints. Used to constrain joint motion in simulation.

Public Members

float lower = -FLT_MAX

Lower joint limit (radians for revolute, meters for prismatic).

float upper = FLT_MAX

Upper joint limit (radians for revolute, meters for prismatic).

float effort = FLT_MAX

Maximum joint effort (force or torque).

float velocity = FLT_MAX

Maximum joint velocity.