Programmatically set the revolute (hinge) joint limits?
Posted: Sun Apr 12, 2020 4:01 pm
Hey, thanks again for this great module. There are a number of robotics examples featuring a hinge joint with limits. In the URDF files these are easily implemented, like for example:
<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
Here, the hinge joint in implemented in Bullet as a revolute joint with a restricted angular range of (-40, 40) degrees. When I make similar joints programmatically with pb.createMultiBody(), I can't see any way to specify the limits on the revolute. You can query them with pb.getJointInfo(), with these settings mapping to the jointLowerLimit, and jointUpperLimit variables. But there doesn't appear to be an equivalent pb.setJointInfo() function.
Is there a way to programmatically set the revolute (hinge) joint limits when creating a robot with pb.createMultiBody()?
<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
Here, the hinge joint in implemented in Bullet as a revolute joint with a restricted angular range of (-40, 40) degrees. When I make similar joints programmatically with pb.createMultiBody(), I can't see any way to specify the limits on the revolute. You can query them with pb.getJointInfo(), with these settings mapping to the jointLowerLimit, and jointUpperLimit variables. But there doesn't appear to be an equivalent pb.setJointInfo() function.
Is there a way to programmatically set the revolute (hinge) joint limits when creating a robot with pb.createMultiBody()?