Limit

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

Bases: compas.base.Base

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

from_data(data)

Construct an object of this type from the provided data.

from_json(filepath)

Construct an object from serialised data contained in a JSON file.

get_urdf_element()

scale(factor)

Scale the upper and lower limits by a given factor.

to_data()

Convert an object to its native data representation.

to_json(filepath)

Serialize the data representation of an object to a JSON file.

validate_data()

Validate the data of this object against its data schema (self.DATASCHEMA).

validate_json()

Validate the data loaded from a JSON representation of the data of this object against its data schema (self.DATASCHEMA).