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.