add qlim arg to init
@@ -115,6 +115,7 @@ class BaseLink(SceneNode, ABC):
B: Union[float, None] = None,
Tc: Union[ArrayLike, None] = None,
G: Union[float, None] = None,
+ qlim: Union[ArrayLike, None] = None,
geometry: List[Shape] = [],
collision: List[Shape] = [],
**kwargs,
@@ -196,6 +197,10 @@ class BaseLink(SceneNode, ABC):
self._joint_name = joint_name
self._children = []
+ # Set the qlim if provided
+ if qlim is not None and self.isjoint:
+ self._ets[-1].qlim = qlim
+
# Initialise the static transform of the Link
self._init_Ts()
@@ -1064,7 +1069,7 @@ class BaseLink(SceneNode, ABC):
def _params(self): # pragma nocover
l = [] # noqa
self._format(l, "name")
- self._format(l, "flip", ignorevalue=False)
+ self._format(l, "isflip", ignorevalue=False)
self._format(l, "qlim")
self._format(l, "m")
self._format(l, "r")
