compas.robots.Limit

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

Bases: compas.data.data.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

copy([cls])	Make an independent copy of the data object.
from_data(data)	Construct an object of this type from the provided data.
from_json(filepath)	Construct an object from serialized data contained in a JSON file.
from_jsonstring(string)	Construct an object from serialized data contained in a JSON string.
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[, pretty])	Serialize the data representation of an object to a JSON file.
to_jsonstring([pretty])	Serialize the data representation of an object to a JSON string.
validate_data()	Validate the object’s data against its data schema (self.DATASCHEMA).
validate_json()	Validate the object’s data against its json schema (self.JSONSCHEMA).

Attributes

DATASCHEMA	The schema of the data of this object.
JSONSCHEMA	The schema of the JSON representation of the data of this object.
data	The representation of the object as native Python data.
dtype	The type of the object in the form of a “2-level” import and a class name.
guid	The globally unique identifier of the object.
name	The name of the object.