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Add joint effort and velocity limits handling - #1292

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traversaro merged 12 commits into
gbionics:masterfrom
flferretti:effort_limit
Feb 10, 2026
Merged

Add joint effort and velocity limits handling#1292
traversaro merged 12 commits into
gbionics:masterfrom
flferretti:effort_limit

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@flferretti

@flferretti flferretti commented Feb 5, 2026

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This PR adds handling for joint effort and velocity limits. This has been propagated to model exporter and to the bindings.

Fixes #955
Fixes #958

C.C. @rob-mau

@flferretti

flferretti commented Feb 6, 2026

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The problem stated in #955 is fixed:

twoLinks.urdf 

<robot name="twoLinks">
    <link name="link1">
        <inertial>
            <mass value="1" />
            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
        </inertial>
    </link>
    <joint name="joint_1_2" type="revolute">
        <origin xyz="1 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="link1" />
        <child link="link2" />
        <limit effort="1.56666666667" lower="-0.698131700798" upper="0.698131700798" velocity="21.2930168743"/>
    </joint>
    <link name="link2">
        <inertial>
            <mass value="1" />
            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
            <origin xyz="1 0 0" rpy="0 -0 0" />
        </inertial>
    </link>
</robot>

twoLinksModified.urdf 

<?xml version="1.0"?>
<robot name="iDynTreeURDFModelExportModelName">
  <link name="link1">
    <inertial>
      <mass value="1"/>
      <origin xyz="0 0 0" rpy="0 -0 0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="joint_1_2" type="revolute">
    <origin xyz="1 0 0" rpy="0 -0 0"/>
    <axis xyz="0 0 1"/>
    <parent link="link1"/>
    <child link="link2"/>
    <limit lower="-0.698131700798" upper="0.698131700798" effort="1.56666666667" velocity="21.2930168743"/>
  </joint>
  <link name="link2">
    <inertial>
      <mass value="1"/>
      <origin xyz="1 0 0" rpy="0 -0 0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.010000000000000009" iyz="0" izz="0.010000000000000009"/>
    </inertial>
  </link>
</robot>

% check_urdf twoLinksModified.urdf

robot name is: iDynTreeURDFModelExportModelName
---------- Successfully Parsed XML ---------------
root Link: link1 has 1 child(ren)
    child(1):  link2

@traversaro

traversaro commented Feb 6, 2026

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The problem stated in #955 is fixed:
twoLinks.urdf

twoLinksModified.urdf

<?xml version="1.0"?>
<robot name="iDynTreeURDFModelExportModelName">
  <link name="link1">
    <inertial>
      <mass value="1"/>
      <origin xyz="0 0 0" rpy="0 -0 0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="joint_1_2" type="revolute">
    <origin xyz="1 0 0" rpy="0 -0 0"/>
    <axis xyz="0 0 1"/>
    <parent link="link1"/>
    <child link="link2"/>
    <limit lower="-0.698131700798" upper="0.698131700798" effort="1.56666666667" velocity="21.2930168743"/>
  </joint>
  <link name="link2">
    <inertial>
      <mass value="1"/>
      <origin xyz="1 0 0" rpy="0 -0 0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.010000000000000009" iyz="0" izz="0.010000000000000009"/>
    </inertial>
  </link>
</robot>

% check_urdf twoLinksModified.urdf

robot name is: iDynTreeURDFModelExportModelName
---------- Successfully Parsed XML ---------------
root Link: link1 has 1 child(ren)
    child(1):  link2

Great, there is anything else to move this out of Draft?

@flferretti

flferretti commented Feb 6, 2026

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The problem stated in #955 is fixed:
twoLinks.urdf
twoLinksModified.urdf

<?xml version="1.0"?>
<robot name="iDynTreeURDFModelExportModelName">
  <link name="link1">
    <inertial>
      <mass value="1"/>
      <origin xyz="0 0 0" rpy="0 -0 0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="joint_1_2" type="revolute">
    <origin xyz="1 0 0" rpy="0 -0 0"/>
    <axis xyz="0 0 1"/>
    <parent link="link1"/>
    <child link="link2"/>
    <limit lower="-0.698131700798" upper="0.698131700798" effort="1.56666666667" velocity="21.2930168743"/>
  </joint>
  <link name="link2">
    <inertial>
      <mass value="1"/>
      <origin xyz="1 0 0" rpy="0 -0 0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.010000000000000009" iyz="0" izz="0.010000000000000009"/>
    </inertial>
  </link>
</robot>

% check_urdf twoLinksModified.urdf

robot name is: iDynTreeURDFModelExportModelName
---------- Successfully Parsed XML ---------------
root Link: link1 has 1 child(ren)
    child(1):  link2

Great, there is anything else to move this out of Draft?

I'm adding the tests and verifying why the CI is failing

@flferretti

flferretti commented Feb 6, 2026 •
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The CI failure was due to a missing constructor.

I've seen that there are no tests for the position limits. If you want I can add the tests also for that

@traversaro

traversaro commented Feb 6, 2026

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I've seen that there are no tests for the position limits. If you want I can the tests also for that

Sure!

@flferretti
flferretti marked this pull request as ready for review February 6, 2026 15:12
@traversaro

traversaro commented Feb 10, 2026

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Tests are failing.

@traversaro

traversaro commented Feb 10, 2026

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Should we also modify the URDF parser (and not only the exporter) to parse this values?

@flferretti

flferretti commented Feb 10, 2026 •
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Should we also modify the URDF parser (and not only the exporter) to parse this values?

This should be already available (

idyntree/src/model_io/codecs/src/JointElement.cpp

Lines 134 to 151 in ab04c74

found = attributes.find("effort");
if (found != attributes.end())
{
double value = 0;
if (stringToDoubleWithClassicLocale(found->second->value(), value))
{
m_limits->effort = value;
}
}
found = attributes.find("velocity");
if (found != attributes.end())
{
double value = 0;
if (stringToDoubleWithClassicLocale(found->second->value(), value))
{
m_limits->velocity = value;
}
}
). In 286995b I added a couple of tests to verify the functionality

@traversaro

traversaro commented Feb 10, 2026

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My bad, I had missed it!

@traversaro
traversaro merged commit ae2e715 into gbionics:master Feb 10, 2026
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@traversaro

traversaro commented Feb 10, 2026

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This PR changes the ABI, so we need to bump the major version before the release. Do you want to also work on mesh-iit/creo2urdf#155 (comment) that would also break the ABI (due to the settings objects being plain structures and not pimpled-classes with setters and getters) so we can bump the major version only once?

@traversaro

traversaro commented Feb 10, 2026

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Ah my bad, I did not noticed that the commit history was curated, and I squashed and merged.

@flferretti

flferretti commented Feb 10, 2026

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This PR changes the ABI, so we need to bump the major version before the release. Do you want to also work on icub-tech-iit/creo2urdf#155 (comment) that would also break the ABI (due to the settings objects being plain structures and not pimpled-classes with setters and getters) so we can bump the major version only once?

Yes sure!

@flferretti

flferretti commented Feb 10, 2026

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Ah my bad, I did not noticed that the commit history was curated, and I squashed and merged.

no worries :)

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Successfully merging this pull request may close these issues.

Read velocity and effort limits from URDF files URDF export code exports malformed URDF models with limit tags but no velocity or effort attributes

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@flferretti @traversaro