JointLimits

One value per joint for each bound that is known; None means unbounded.

Full docstring

WHY Ruckig's names (`max_velocity`, `max_acceleration`, `max_jerk`): the limits feed
straight into the trajectory generator, and RobotDescription can carry the same value.
`max_*` bounds are magnitudes (|velocity| <= max_velocity); `inf` is allowed.

Import

from robot_msgs.trajectory import JointLimits

ROS 2no ROS equivalent

Fields

Name	Type	Default
`joint_names`	`tuple[str, ...]`	`required`
`min_position`	`Array \| None`	`None`
`max_position`	`Array \| None`	`None`
`max_velocity`	`Array \| None`	`None`
`max_acceleration`	`Array \| None`	`None`
`max_jerk`	`Array \| None`	`None`
`max_effort`	`Array \| None`	`None`

Example

One instance from the package's own test catalog; the output is its real repr().

JointLimits(joint_names=('j1', 'j2', 'j3'), max_velocity=[2., 2., 2.], max_jerk=[50., 50., 50.])

to_dict() as JSON

{
  "_type": "trajectory/JointLimits",
  "joint_names": ["j1", "j2", "j3"],
  "min_position": null,
  "max_position": null,
  "max_velocity": {
    "dtype": "<f8",
    "shape": [3],
    "data": [2.0, 2.0, 2.0]
  },
  "max_acceleration": null,
  "max_jerk": {
    "dtype": "<f8",
    "shape": [3],
    "data": [50.0, 50.0, 50.0]
  },
  "max_effort": null
}

Long arrays are cut after 16 values and say so with “…”.

Functions

Constructors

Classmethods and staticmethods: ways to build one.

`from_dict`

from Msg

from_dict(data: Mapping[str, Any]) -> M

No docstring.

Methods

Return new values; messages are never mutated.

`select`

select(names: Sequence[str]) -> JointLimits

These limits for names, in that order.

`replace`

from Msg

replace(**changes: Any) -> M

A copy with some fields changed. Validation runs again.

`to_dict`

from Msg

to_dict() -> dict[str, Any]

JSON-safe dict with a "_type" key; arrays keep their dtype and shape.

Used by

Types whose fields refer to it.

JointTrajectory