Joint limit with AnyRevoluteJoint

Hi all,

I'm modeling a robotic system for evaluating ergonomics in a collaborative human-robot application. I modeled the robot system with 7 AnyRevoluteJoint.
Is there a way to set the joint limit with the revolute function? For example, I would limit the motion of the second joint to a range of [-1.76,1.76] rad.

Can I force a joint's initial value to a constant value (i.e. 0.06 rad) instead of 0?

Thank you in advance,

Giulia

Hi @GiuliAva

We actually have some tools for doing kinematic limits.
We normally use them to define range of motion limits for the human.
You can probably use adapt them for your need.
They are located under AMMR/Tools/ModelUtilities/KinematicLimits

Best regards,
Bjørn