SafetyFunctionsJointLimits

class JointPositionInfo

Joint Position information

Canonical

kortex_api.autogen.messages.SafetyFunctionsJointLimits_pb2.JointPositionInfo

Parameters

index (int) – Joint index (0-based)

class JointSpeedInfo

Joint Speed information

Canonical

kortex_api.autogen.messages.SafetyFunctionsJointLimits_pb2.JointSpeedInfo

Parameters

• index (int) – Joint index (0-based)

• mode (SafetySystemMode) – Safety system mode (normal or reduced)

• with_margin (bool) – True for limits adapted with margins

class JointPositionLimits

Joint position limits

Canonical

kortex_api.autogen.messages.SafetyFunctionsJointLimits_pb2.JointPositionLimits

Parameters

• info (JointPositionInfo) – Joint info

• upper_limit (float) – Joint position upper limit in degrees (°)

• lower_limit (float) – Joint position lower limit in degrees (°)

class JointSpeedLimit

Joint speed limit

Canonical

kortex_api.autogen.messages.SafetyFunctionsJointLimits_pb2.JointSpeedLimit

Parameters

• info (JointSpeedInfo) – Joint info

• limit (float) – Joint speed limit in degrees/second (°/s)

class JointPositionLimitsList

Array of position limits for all joints

Canonical

kortex_api.autogen.messages.SafetyFunctionsJointLimits_pb2.JointPositionLimitsList

Parameters

joints_position_limits (JointPositionLimits [ ]) – List of safety joint position limits (max of 7 joints/limits)

class JointSpeedLimitList

Array of speed limit for all joints

Canonical

kortex_api.autogen.messages.SafetyFunctionsJointLimits_pb2.JointSpeedLimitList

Parameters

joints_speed_limit (JointSpeedLimit [ ]) – List of safety joint speed limits (max of 14 limits: 7 joints for each safety system mode)