franky.DoubleDynamicsLimit

class franky.DoubleDynamicsLimit

Bases: pybind11_object

A template class representing a dynamics limit with a maximum value.

This class provides functionality to store and manage a dynamic limit, including setting and getting the value of the limit while ensuring that it cannot be written while the robot is in control.

Template Args:

LimitType: The type of the limit value (e.g., double, int).

__init__(*args, **kwargs)

get(self: franky._franky.DoubleDynamicsLimit) → float

Get the current value of the limit.

Retrieves the current value stored in this limit.

Returns:

The current value of the limit.

set(self: franky._franky.DoubleDynamicsLimit, value: SupportsFloat | SupportsIndex) → None

Set a new value for the limit.

Sets the value of the limit, but only if the robot is not in control. Throws a runtime_error if the condition for writing to the limit is not met.

Parameters:

value – The new value to set for the limit.

Raises:

std::runtime_error – if the limit cannot be set due to the robot being in control.

property desc

Description of this limit.

This string provides a human-readable description of the limit, such as “joint velocity” or “maximum load”.

property max

The maximum value this limit can take as defined by Franka.

This value represents the maximum boundary for the limit, beyond which the value cannot be set.