Real-Time Physics Simulation Forum

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()?

Hello @mcar,
Were you able to find solution to this? Is it possible to set joint limits using createMultiBody?
Thanks.

I'm looking for a solution to this as well. Has anyone been able to solve it?

Unfortunately I haven't found a solution yet. From what I can see the functionality we need is in the C API but not exported to pyBullet. It is however supported through the URDF interface. So as long as you are prepared to monkey around with URDF files, you can get around this issue.

This is currently not exposed/supported.
See https://github.com/bulletphysics/bullet3/issues/2810 for progress/updates.

I implemented it now: See https://github.com/bulletphysics/bullet3/pull/2919

Erwin Coumans wrote: ↑Wed Jul 08, 2020 6:06 pm I implemented it now: See https://github.com/bulletphysics/bullet3/pull/2919

Awesome.
Thank you.

Erwin Coumans wrote: ↑Wed Jul 08, 2020 6:06 pm I implemented it now: See https://github.com/bulletphysics/bullet3/pull/2919

Thank you!