JointLimit¶

class urdfpy.JointLimit(effort, velocity, lower=None, upper=None)[source]¶

The limits of the joint.

Parameters:

effort (float) – The maximum joint effort (N for prismatic joints, Nm for revolute).
velocity (float) – The maximum joint velocity (m/s for prismatic joints, rad/s for revolute).
lower (float, optional) – The lower joint limit (m for prismatic joints, rad for revolute).
upper (float, optional) – The upper joint limit (m for prismatic joints, rad for revolute).

Attributes Summary

Attributes Documentation

effort¶

The maximum joint effort.

Type:	float

lower¶

The lower joint limit.

Type:	float

upper¶

The upper joint limit.

Type:	float

velocity¶

The maximum joint velocity.

Type:	float