Question about JointModelFreeFlyer Limits

[qiyuanchn]

Hello,

I have a question regarding the JointModelFreeFlyer in RobotLoader. What is the reason for setting addFreeFlyerJointLimits in JointModelFreeFlyer? Also, why are the first three translational parts also subject to limits? If I want to use pinocchio.casadi, can I apply such limits in the same way?

Best regards.