What are the joints limits of the iCub robot used in the tutorial baseball experiment


#1

Is there a file where there are written the joints limits of the simulated iCub robot used in the tutorial baseball demo?

Thanks!
Daniele


#2

Dear Daniele,

Yes, there is: $NRP/Models/icub_model/model.sdf. Look for <limit>.

Best regards,
Luc


#3

Perfect. Thank you very much.


#4

Hi,
I’m Marco and I’m new to this platform. I’d like to know the joints limits of the simulated iCub robot used in the tutorial baseball demo on the online NRP. I don’t know how to use: $NRP/Models/icub_model/model.sdf.
Is there a way to know this info through ROS console too?

Thanks,
Marco


#5

Hi Marco,

It is not possible to get joint limits information form the ROS console in the case of the icub robot because its contoller doesn’t make it available. At the moment, this information is only available for the robot models that use the generic_controller_plugin by means of a ROS service:

rosservice /<robot_name>/joint_properties.

As you are using the online platform, you can browse the experiment folder and look for a file named model.sdf. Download it, open it in a text editor and then look for <limit>. You will find the limits of all icub joints this way.

Best regards,
Luc


#6

Thank you very much!