JointConfiguration¶

class pyniryo_nate.models.robot.JointConfiguration(name: str, type: str, position_limit_min: float, position_limit_max: float, velocity_limit: float, acceleration_limit: float | None, effort_limit: float, pid_position: PID | None, pid_velocity: PID | None)[source]¶

Bases: object

Represents the configuration of a single robot joint.

Parameters:

name (str) – The name of the joint.
type (str) – The type of joint (e.g., revolute, prismatic).
position_limit_min (float) – Minimum position limit.
position_limit_max (float) – Maximum position limit.
velocity_limit (float) – Maximum velocity.
acceleration_limit (float | None) – Maximum acceleration.
effort_limit (float) – Maximum effort/torque.
pid_position (PID | None) – PID gains for position control (optional).
pid_velocity (PID | None) – PID gains for velocity control (optional).

Attributes

`name`
`type`
`position_limit_min`
`position_limit_max`
`velocity_limit`
`acceleration_limit`
`effort_limit`
`pid_position`
`pid_velocity`

Methods

`from_transport_model`
`to_transport_model`

name: str¶

type: str¶

position_limit_min: float¶

position_limit_max: float¶

velocity_limit: float¶

acceleration_limit: float | None¶

effort_limit: float¶

pid_position: PID | None¶

pid_velocity: PID | None¶

classmethod from_transport_model(model: JointConfig) → JointConfiguration[source]¶

Parameters:: model (JointConfig)
Return type:: JointConfiguration

to_transport_model() → JointConfig[source]¶

Return type:: JointConfig