Limit

class compas.robots.Limit(effort=0.0, velocity=0.0, lower=0.0, upper=0.0, **kwargs)[source]

Bases: Data

Joint limit properties.

Attributes

• effort (float) – Maximum joint effort.

• velocity (float) – Maximum joint velocity.

• lower (float) – Lower joint limit (radians for revolute joints, meter for prismatic joints).

• upper (float) – Upper joint limit (radians for revolute joints, meter for prismatic joints).

Methods

get_urdf_element
scale	Scale the upper and lower limits by a given factor.

Inherited Methods

copy	Make an independent copy of the data object.
from_data	Construct an object of this type from the provided data.
from_json	Construct an object from serialized data contained in a JSON file.
from_jsonstring	Construct an object from serialized data contained in a JSON string.
to_data	Convert an object to its native data representation.
to_json	Serialize the data representation of an object to a JSON file.
to_jsonstring	Serialize the data representation of an object to a JSON string.
validate_data	Validate the object's data against its data schema.
validate_json	Validate the object's data against its json schema.