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SafetyFunctionsJointLimits
================================
    
.. py:currentmodule:: kortex_api.autogen

.. _SafetyFunctionsJointLimitsJointPositionInfo:

.. py:class:: JointPositionInfo

    Joint Position information

   :canonical: kortex_api.autogen.messages.SafetyFunctionsJointLimits_pb2.JointPositionInfo

   :param index:   Joint index (0-based)
   :type index: :ref:`int <>` 

.. _SafetyFunctionsJointLimitsJointSpeedInfo:

.. py:class:: JointSpeedInfo

    Joint Speed information

   :canonical: kortex_api.autogen.messages.SafetyFunctionsJointLimits_pb2.JointSpeedInfo

   :param index:   Joint index (0-based)
   :type index: :ref:`int <>` 

   :param mode:   Safety system mode (normal or reduced)
   :type mode: :ref:`SafetySystemMode <SafetyFunctionsJointLimitsSafetySystemMode>` 

   :param with_margin:   True for limits adapted with margins
   :type with_margin: :ref:`bool <>` 

.. _SafetyFunctionsJointLimitsJointPositionLimits:

.. py:class:: JointPositionLimits

    Joint position limits

   :canonical: kortex_api.autogen.messages.SafetyFunctionsJointLimits_pb2.JointPositionLimits

   :param info:   Joint info
   :type info: :ref:`JointPositionInfo <SafetyFunctionsJointLimitsJointPositionInfo>` 

   :param upper_limit:   Joint position upper limit in degrees (°)
   :type upper_limit: :ref:`float <>` 

   :param lower_limit:   Joint position lower limit in degrees (°)
   :type lower_limit: :ref:`float <>` 

.. _SafetyFunctionsJointLimitsJointSpeedLimit:

.. py:class:: JointSpeedLimit

    Joint speed limit

   :canonical: kortex_api.autogen.messages.SafetyFunctionsJointLimits_pb2.JointSpeedLimit

   :param info:   Joint info
   :type info: :ref:`JointSpeedInfo <SafetyFunctionsJointLimitsJointSpeedInfo>` 

   :param limit:   Joint speed limit in degrees/second (°/s)
   :type limit: :ref:`float <>` 

.. _SafetyFunctionsJointLimitsJointPositionLimitsList:

.. py:class:: JointPositionLimitsList

    Array of position limits for all joints

   :canonical: kortex_api.autogen.messages.SafetyFunctionsJointLimits_pb2.JointPositionLimitsList

   :param joints_position_limits:   List of safety joint position limits (max of 7 joints/limits)
   :type joints_position_limits: :ref:`JointPositionLimits <SafetyFunctionsJointLimitsJointPositionLimits>` [ ]

.. _SafetyFunctionsJointLimitsJointSpeedLimitList:

.. py:class:: JointSpeedLimitList

    Array of speed limit for all joints

   :canonical: kortex_api.autogen.messages.SafetyFunctionsJointLimits_pb2.JointSpeedLimitList

   :param joints_speed_limit:   List of safety joint speed limits (max of 14 limits: 7 joints for each safety system mode)
   :type joints_speed_limit: :ref:`JointSpeedLimit <SafetyFunctionsJointLimitsJointSpeedLimit>` [ ]