Not able to set limit for Slide type joint

Discussion in 'Priority support' started by Deepak, Aug 2, 2019.

  1. Deepak

    Deepak

    I am using a slide type joint in my robot for connecting the main body with a part. This part should contract when it collides with some object. I am able to achieve the same using a slide type joint. But the joint is expended(before the collision) more than what I set in the limits. How I can effectively set the joint limit/range?

    <joint name="joint_x" type="slide" axis="1 0 0" pos=".05 .05 .05" limited="true" range=".01 .02"/>
     
    Deepak, Aug 2, 2019
    #1
  2. Emo Todorov

    Emo Todorov Administrator Staff Member

    Joint limits are soft, like all other constraint in mujoco. You can adjust the softness of each constraint with the corresponding solref and solimp parameters.
     
    Emo Todorov, Aug 2, 2019
    #2
  3. Deepak

    Deepak

    solimplimit worked for me. Thanks for the suggestion.
     
    Deepak, Aug 5, 2019
    #3
  4. Sridhar Thiagarajan

    Sridhar Thiagarajan

    What did you set solimp limit to?
     
    Sridhar Thiagarajan, Aug 5, 2019
    #4
  5. Deepak

    Deepak

    For my case solreflimit="0.09 0.10" solimplimit="0.90 1.00 0.000001" worked.
     
    Deepak, Aug 6, 2019
    #5