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).