lockwire 0.2.4__tar.gz → 0.2.5__tar.gz

{lockwire-0.2.4 → lockwire-0.2.5}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: lockwire
-Version: 0.2.4
+Version: 0.2.5
 Summary: The physical-assumption contract for robots: checks that a robot's declared parts (power, weight, bus, torque) add up
 Keywords: robotics,urdf,ros,preflight,lockfile,ci,hardware,drone
 Author: Shivansh

{lockwire-0.2.4 → lockwire-0.2.5}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "lockwire"
-version = "0.2.4"
+version = "0.2.5"
 description = "The physical-assumption contract for robots: checks that a robot's declared parts (power, weight, bus, torque) add up"
 readme = "README.md"
 authors = [

{lockwire-0.2.4 → lockwire-0.2.5}/src/lockwire/__init__.py

@@ -1,6 +1,6 @@
 """Lockwire — the physical-assumption contract for robots, enforced in CI and at preflight."""
 
-__version__ = "0.2.4"
+__version__ = "0.2.5"
 
 
 def main() -> None:

{lockwire-0.2.4 → lockwire-0.2.5}/src/lockwire/checks.py

@@ -2104,6 +2104,28 @@ def check_budgets(c: Contract, *, scores: _ScoreBook | None = None) -> list[Find
                         f"({headroom_kg / limit_kg * 100:.0f}%)"
                     ),
                 )
+            if b.nominal is not None and total_kg > 0.0:
+                nominal_kg = b.nominal.base()
+                gap_pct = (total_kg - nominal_kg) / nominal_kg * 100
+                # a partial sum (unknown masses) can only prove "too heavy", never "too light"
+                if abs(gap_pct) > (b.tolerance_pct or 0.0) and (not unknown_mass or gap_pct > 0):
+                    out.append(
+                        Finding(
+                            severity="violation",
+                            quantity=f"budgets/{b.id}/nominal",
+                            observed=format_magnitude(total_kg, "kg"),
+                            expected=f"{format_magnitude(nominal_kg, 'kg')} +/- {b.tolerance_pct or 0:g}%",
+                            observed_quantity=Quantity(value=total_kg, unit="kg"),
+                            expected_quantity=Quantity(value=nominal_kg, unit="kg"),
+                            delta=f"{gap_pct:+.0f}% ({total_kg - nominal_kg:+.2f} kg)",
+                            dependent=", ".join(contributors),
+                            owner=b.owner,
+                            source=b.provenance.source if b.provenance is not None else None,
+                            witness=b.provenance.witness if b.provenance is not None else None,
+                            locked_at=b.provenance.locked_at if b.provenance is not None else None,
+                            action="the summed link masses disagree with the declared nominal mass; fix the model or the declared value",
+                        )
+                    )
 
         elif b.kind == "endurance":
             _, _, battery_w, battery_witnesses, _, battery_unknown = _power_rollup(c, b.draw_mode)

{lockwire-0.2.4 → lockwire-0.2.5}/src/lockwire/cli.py

@@ -1584,6 +1584,14 @@ def add_cmd(
     sources: str | None = typer.Option(
         None, "--sources", help="budget (mass_total only): devices|links|links+devices."
     ),
+    nominal: str | None = typer.Option(
+        None,
+        "--nominal",
+        help="budget (mass_total): datasheet mass the sum must match, e.g. '1.25 kg'.",
+    ),
+    tolerance_pct: float | None = typer.Option(
+        None, "--tolerance-pct", help="budget: percent the sum may differ from --nominal."
+    ),
     nominal_voltage: str | None = typer.Option(
         None, "--nominal-voltage", help="battery: voltage, e.g. '25.9 V'."
     ),
@@ -1649,6 +1657,8 @@ def add_cmd(
         "limit": limit,
         "draw_mode": draw_mode,
         "sources": sources,
+        "nominal": nominal,
+        "tolerance_pct": tolerance_pct,
         "rail": rail,
         "nominal_voltage": nominal_voltage,
         "chemistry": chemistry,

{lockwire-0.2.4 → lockwire-0.2.5}/src/lockwire/edit.py

@@ -1655,6 +1655,10 @@ def _build_budget(fields: dict[str, Any], doc: Any) -> CommentedMap:
         entry["draw_mode"] = fields["draw_mode"]
     if fields.get("sources"):
         entry["sources"] = fields["sources"]
+    if fields.get("nominal"):
+        entry["nominal"] = parse_value(fields["nominal"], field_name="nominal")
+    if fields.get("tolerance_pct"):
+        entry["tolerance_pct"] = float(fields["tolerance_pct"])
     entry["owner"] = fields["owner"]
     return entry
 

{lockwire-0.2.4 → lockwire-0.2.5}/src/lockwire/examples/arm/contract.yaml

@@ -137,10 +137,15 @@ device_models:
       witness: w0
       source: "https://www.waveshare.com/st3215-servo.htm; github.com/TheRobotStudio/SO-ARM100 README.md (Bill of Materials, follower-arm note)"
       locked_at: 2026-10-15
-      note: "STS3215 12 V version: operating voltage 6-12.6 V, 30 kg.cm at 12 V, no-load current 200 mA, locked-rotor current 2.7 A (Waveshare retailer listing, not manufacturer). The README says the 12 V version has 30 kg.cm stall torque; the 7.4 V version is 16.5 kg.cm at 6 V."
+      note: "STS3215 12 V version: operating voltage 6-12.6 V, 30 kg.cm at 12 V, no-load current 200 mA, locked-rotor current 2.7 A (Waveshare retailer listing, not manufacturer). The README says the 12 V version has 30 kg.cm stall torque; the 7.4 V version is 16.5 kg.cm at 6 V. temperature_c hard limit 70 C: Feetech STS memory table (https://aifitlab-wiki.super.site/feetech-servo-motor-docs/feetech-sts-servo-memory-table-analysis, read 2026-10-22, a third-party transcription of the Feetech table): row Maximum Temperature Limit, address 13 (0x0D), initial value 70, range 0 ~ 100, unit C; row Present Temperature, address 63 (0x3F), read-only, unit C, Internal temperature of the servo. The 70 C is a user-writable default, not an absolute rating; a translated vendor datasheet is said to state torque output turns off above 70 C (second-hand, could not read the PDF). No lower temperature bound is published, so the floor is absolute zero."
     input_voltage_range:
       min: {value: 6, unit: V}
       max: {value: 12.6, unit: V}
+    hard_limits:
+      # Feetech STS memory table: Maximum Temperature Limit, address 13 (0x0D), initial value 70, range 0-100, unit C;
+      # Present Temperature, address 63 (0x3F), read-only, unit C. The lower bound is NOT published: absolute zero is
+      # used only as a non-binding floor so the bound is one-sided.
+      temperature_c: {lo: -273.15, hi: 70, unit: degC, why: "Feetech STS servos switch torque off above their Maximum Temperature Limit, default 70 C"}
   - id: mdl.controller.waveshare-bus-servo-adapter-a
     family: fam.controller.servo-adapter
     provenance:

{lockwire-0.2.4 → lockwire-0.2.5}/src/lockwire/examples/drone/contract.yaml

@@ -64,7 +64,14 @@ device_models:
       witness: w0
       source: docs.holybro.com/autopilot/pixhawk-6c/technical-specification
       locked_at: 2026-07-25
-      note: "Board current draw is unknown; aluminium/plastic case masses are variants, so no installed mass is selected."
+      note: "Board current draw is unknown; aluminium/plastic case masses are variants, so no installed mass is selected. Sensor limits (hard_limits): the board's primary IMU is the ICM-42688-P (see mdl.imu.icm-42688-p), so the limits below are its selected full-scale ranges from the TDK InvenSense datasheet DS-000347 section 3.1/3.2 (read 2026-10-22): accelerometer +/-16 g (ACCEL_FS_SEL=0) = +/-156.9064 m/s^2, gyroscope +/-2000 deg/s (GYRO_FS_SEL=0) = +/-34.9066 rad/s. These are the ranges the flight stack configures only if it selects the widest scale; a narrower selection would clip earlier."
+    hard_limits:
+      accel_x: {lo: -156.9064, hi: 156.9064, unit: "m/s^2"}
+      accel_y: {lo: -156.9064, hi: 156.9064, unit: "m/s^2"}
+      accel_z: {lo: -156.9064, hi: 156.9064, unit: "m/s^2"}
+      gyro_x: {lo: -34.9066, hi: 34.9066, unit: "rad/s"}
+      gyro_y: {lo: -34.9066, hi: 34.9066, unit: "rad/s"}
+      gyro_z: {lo: -34.9066, hi: 34.9066, unit: "rad/s"}
   - id: mdl.companion.jetson-orin-nano
     family: fam.companion.sbc
     provenance:
@@ -284,6 +291,26 @@ devices:
     physical:
       mass: {value: 59.3, unit: g}
       mount_frame: x500_frame
+    envelopes:
+      - context: bench-idle
+        signals:
+          accel_x:
+            band: {lo: -0.196133, hi: 0.196133, unit: m/s^2}
+          accel_y:
+            band: {lo: -0.196133, hi: 0.196133, unit: m/s^2}
+          accel_z:
+            band: {lo: -10.002783, hi: -9.610517, unit: m/s^2}
+          gyro_x:
+            band: {lo: -0.0087266, hi: 0.0087266, unit: rad/s}
+          gyro_y:
+            band: {lo: -0.0087266, hi: 0.0087266, unit: rad/s}
+          gyro_z:
+            band: {lo: -0.0087266, hi: 0.0087266, unit: rad/s}
+        provenance:
+          witness: human
+          source: "TDK InvenSense ICM-42688-P Datasheet DS-000347, section 3.1 and 3.2 (read from the datasheet PDF, Revision 1.2 mirror, 2026-10-22); product page https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/ for the current revision"
+          locked_at: 2026-10-22
+          note: "The Pixhawk 6C carries the ICM-42688-P as its primary IMU (see mdl.imu.icm-42688-p), so the IMU bands are declared on the flight controller device, which is what the recording reports. Vehicle at rest, level, on the bench (+Z reads -g in the recording's sign convention). Gyro band is the datasheet row 'Initial ZRO Tolerance, Board-level, 25C: +/-0.5 deg/s' = +/-0.0087266 rad/s (0.5 x pi/180). Accel x/y band is the row 'ZERO-G OUTPUT Initial Tolerance, Board-level, all axes: +/-20 mg' = +/-0.196133 m/s^2 (20e-3 x 9.80665); the z band is -9.80665 +/- 0.196133 for the same tolerance. The datasheet figures are at 25 C and board level; ZRO drifts +/-0.005 deg/s per C and zero-g +/-0.15 mg per C (same tables), which this band does not widen for. Assumes a level mount: a tilted airframe reads gravity on x/y and would trip it. Newer datasheet revisions were not readable (TDK site blocks automated fetch); the +/-20 figure matches the TDK product page listing 'Accel ZGO'."
     owner: avionics-integration
     provenance:
       witness: w0

{lockwire-0.2.4 → lockwire-0.2.5}/src/lockwire/examples/humanoid/contract.yaml

@@ -1103,50 +1103,60 @@ device_models:
       witness: w0
       source: "https://emanual.robotis.com/docs/en/dxl/x/xc330-t288/"
       locked_at: 2026-10-15
-      note: "Robotis e-Manual, XC330-T288, fetched 2026-10-15: Stall Torque 1.00 N.m at 12.0 V, 0.88 A; Input Voltage 6.5 ~ 12.0 V (recommended 11.1 V). Stall draw at 12 V = 12 V x 0.88 A = 10.56 W."
+      note: "Robotis e-Manual, XC330-T288, fetched 2026-10-15: Stall Torque 1.00 N.m at 12.0 V, 0.88 A; Input Voltage 6.5 ~ 12.0 V (recommended 11.1 V). Stall draw at 12 V = 12 V x 0.88 A = 10.56 W. temperature_c hard limit -5 to 70 C: Robotis e-Manual (read 2026-10-22) Specifications table, 'Operating Temperature -5 ~ +70 [°C]' (https://emanual.robotis.com/docs/en/dxl/x/xc330-t288/); control table row 'Present Temperature' (address 146, read-only, unit C). The Temperature Limit register (row '31 1 Temperature Limit RW 70 0 ~ 100 1 [℃]') is a user-writable shutdown default; the operating range is used as the limit."
     input_voltage_range:
       min: {value: 6.5, unit: V}
       max: {value: 12.0, unit: V}
+    hard_limits:
+      temperature_c: {lo: -5, hi: 70, unit: degC, why: "Outside the servo's published operating temperature range"}
   - id: mdl.servo.2xc430-w250
     family: fam.servo.dynamixel
     provenance:
       witness: w0
       source: "https://emanual.robotis.com/docs/en/dxl/x/2xc430-w250/"
       locked_at: 2026-10-15
-      note: "Robotis e-Manual, 2XC430-W250, fetched 2026-10-15: Stall Torque 1.8 N.m at 12.0 V, 1.4 A; Input Voltage 6.5 ~ 14.8 V (recommended 12.0 V); the page lists one stall figure for the whole two-axis module. Stall draw at 12 V = 12 V x 1.4 A = 16.8 W."
+      note: "Robotis e-Manual, 2XC430-W250, fetched 2026-10-15: Stall Torque 1.8 N.m at 12.0 V, 1.4 A; Input Voltage 6.5 ~ 14.8 V (recommended 12.0 V); the page lists one stall figure for the whole two-axis module. Stall draw at 12 V = 12 V x 1.4 A = 16.8 W. temperature_c hard limit -5 to 72 C: Robotis e-Manual (read 2026-10-22) Specifications table, 'Operating Temperature -5 ~ +72 [°C]' (https://emanual.robotis.com/docs/en/dxl/x/2xc430-w250/); control table row 'Present Temperature' (address 146, read-only, unit C). The Temperature Limit register (row '31 | 1 | Temperature Limit | RW | 80 | 0 ~ 100 | 1 [°C]') is a user-writable shutdown default; the operating range is used as the limit."
     input_voltage_range:
       min: {value: 6.5, unit: V}
       max: {value: 14.8, unit: V}
+    hard_limits:
+      temperature_c: {lo: -5, hi: 72, unit: degC, why: "Outside the servo's published operating temperature range"}
   - id: mdl.servo.xc430-t240bb
     family: fam.servo.dynamixel
     provenance:
       witness: w0
       source: "https://emanual.robotis.com/docs/en/dxl/x/xc430-t240bb/"
       locked_at: 2026-10-15
-      note: "Robotis e-Manual, XC430-T240BB, fetched 2026-10-15: Stall Torque 1.9 N.m at 12.0 V, 1.4 A; Input Voltage 6.5 ~ 14.8 V (recommended 12.0 V). Stall draw at 12 V = 12 V x 1.4 A = 16.8 W."
+      note: "Robotis e-Manual, XC430-T240BB, fetched 2026-10-15: Stall Torque 1.9 N.m at 12.0 V, 1.4 A; Input Voltage 6.5 ~ 14.8 V (recommended 12.0 V). Stall draw at 12 V = 12 V x 1.4 A = 16.8 W. temperature_c hard limit -5 to 80 C: Robotis e-Manual (read 2026-10-22) Specifications table, 'Operating Temperature -5 ~ +80 [°C]' (https://emanual.robotis.com/docs/en/dxl/x/xc430-t240bb/); control table row 'Present Temperature' (address 146, read-only, unit C). The Temperature Limit register (row '31 | 1 | Temperature Limit | RW | 80 | 0 ~ 100 | 1 [°C]') is a user-writable shutdown default; the operating range is used as the limit."
     input_voltage_range:
       min: {value: 6.5, unit: V}
       max: {value: 14.8, unit: V}
+    hard_limits:
+      temperature_c: {lo: -5, hi: 80, unit: degC, why: "Outside the servo's published operating temperature range"}
   - id: mdl.servo.xm430-w210
     family: fam.servo.dynamixel
     provenance:
       witness: w0
       source: "https://emanual.robotis.com/docs/en/dxl/x/xm430-w210/"
       locked_at: 2026-10-15
-      note: "Robotis e-Manual, XM430-W210, fetched 2026-10-15: Stall Torque 3.0 N.m at 12.0 V, 2.3 A; Input Voltage 10.0 ~ 14.8 V (recommended 12.0 V). Stall draw at 12 V = 12 V x 2.3 A = 27.6 W."
+      note: "Robotis e-Manual, XM430-W210, fetched 2026-10-15: Stall Torque 3.0 N.m at 12.0 V, 2.3 A; Input Voltage 10.0 ~ 14.8 V (recommended 12.0 V). Stall draw at 12 V = 12 V x 2.3 A = 27.6 W. temperature_c hard limit -5 to 80 C: Robotis e-Manual (read 2026-10-22) Specifications table, 'Operating Temperature -5 ~ +80 [°C]' (https://emanual.robotis.com/docs/en/dxl/x/xm430-w210/); control table row 'Present Temperature' (address 146, read-only, unit C). The Temperature Limit register (row '31 | 1 | Temperature Limit | RW | 80 | 0 ~ 100 | 1 [°C]') is a user-writable shutdown default; the operating range is used as the limit."
     input_voltage_range:
       min: {value: 10.0, unit: V}
       max: {value: 14.8, unit: V}
+    hard_limits:
+      temperature_c: {lo: -5, hi: 80, unit: degC, why: "Outside the servo's published operating temperature range"}
   - id: mdl.servo.xm430-w350
     family: fam.servo.dynamixel
     provenance:
       witness: w0
       source: "https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/"
       locked_at: 2026-10-15
-      note: "Robotis e-Manual, XM430-W350, fetched 2026-10-15: Stall Torque 4.1 N.m at 12.0 V, 2.3 A; Input Voltage 10.0 ~ 14.8 V (recommended 12.0 V). Stall draw at 12 V = 12 V x 2.3 A = 27.6 W."
+      note: "Robotis e-Manual, XM430-W350, fetched 2026-10-15: Stall Torque 4.1 N.m at 12.0 V, 2.3 A; Input Voltage 10.0 ~ 14.8 V (recommended 12.0 V). Stall draw at 12 V = 12 V x 2.3 A = 27.6 W. temperature_c hard limit -5 to 80 C: Robotis e-Manual (read 2026-10-22) Specifications table, 'Operating Temperature -5 ~ +80 [°C]' (https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/); control table row 'Present Temperature' (address 146, read-only, unit C). The Temperature Limit register (row '31 1 Temperature Limit RW 80 0 ~ 100 -') is a user-writable shutdown default; the operating range is used as the limit."
     input_voltage_range:
       min: {value: 10.0, unit: V}
       max: {value: 14.8, unit: V}
+    hard_limits:
+      temperature_c: {lo: -5, hi: 80, unit: degC, why: "Outside the servo's published operating temperature range"}
   - id: mdl.regulator.pololu-d36v50f12
     family: fam.regulator
     provenance:

{lockwire-0.2.4 → lockwire-0.2.5}/src/lockwire/examples/quadruped/contract.yaml

@@ -233,10 +233,12 @@ device_models:
       witness: w0
       source: "github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware mechanics/actuator_module_v1/README.md; electronics/micro_driver_electronics/README.md; arxiv.org/abs/1910.00093"
       locked_at: 2026-10-15
-      note: "T-Motor Antigravity 4004 300KV, dual-stage timing belt 3:1 x 3:1 = 9:1 (actuator README; paper II-A). Paper: k_i = 0.025 N m/A, tau_joint = 0.225 i, tau_max = 2.7 N m at 12 A. Micro-driver board input 5-32 V, 'we operate our robots at 24 V' (micro-driver README), used as the input range."
+      note: "T-Motor Antigravity 4004 300KV, dual-stage timing belt 3:1 x 3:1 = 9:1 (actuator README; paper II-A). Paper: k_i = 0.025 N m/A, tau_joint = 0.225 i, tau_max = 2.7 N m at 12 A. Micro-driver board input 5-32 V, 'we operate our robots at 24 V' (micro-driver README), used as the input range. current_a hard limit +/-12 A: the paper (https://arxiv.org/pdf/1910.00093, read 2026-10-22) states 'The actuator can output tau_max = 2.7 N m joint torque at 12 A.'; the 12 A is a rated peak, and the paper gives no lower bound beyond its symmetric reading for reverse torque. The Solo12's IMU and per-motor temperature are NOT declared: the motor driver publishes no temperature figure, and the IMU bias figures could not be sourced to a page that names the Solo12's part."
     input_voltage_range:
       min: {value: 5, unit: V}
       max: {value: 32, unit: V}
+    hard_limits:
+      current_a: {lo: -12, hi: 12, unit: A, why: "The ODRI paper rates the actuator at 12 A (2.7 N m joint torque); above it the module is outside its published envelope"}
 devices:
   - id: dev.motor.front-left-hip-abduction
     model: mdl.actuator.odri-4004-9to1

{lockwire-0.2.4 → lockwire-0.2.5}/src/lockwire/examples/rover/contract.yaml

@@ -135,7 +135,9 @@ device_models:
       witness: w0
       source: "emanual.robotis.com/docs/en/dxl/x/xl430-w250/"
       locked_at: 2026-10-15
-      note: "Input 6.5-12.0 V (recommended 11.1 V); stall torque 1.4 N.m at 11.1 V, 1.3 A; standby current 52 mA; mass 57.2 g."
+      note: "Input 6.5-12.0 V (recommended 11.1 V); stall torque 1.4 N.m at 11.1 V, 1.3 A; standby current 52 mA; mass 57.2 g. temperature_c hard limit -5 to 72 C: Robotis e-Manual (read 2026-10-22) Specifications table, 'Operating Temperature -5 ~ +72 [°C]' (https://emanual.robotis.com/docs/en/dxl/x/xl430-w250/); control table row 'Present Temperature' (address 146, read-only, unit C). The Temperature Limit register (row '31 1 Temperature Limit RW 72 0 ~ 100 1 [°C]') is a user-writable shutdown default; the operating range is used as the limit."
+    hard_limits:
+      temperature_c: {lo: -5, hi: 72, unit: degC, why: "Outside the servo's published operating temperature range"}
   - id: mdl.lidar.lds-02
     family: fam.lidar
     provenance:

{lockwire-0.2.4 → lockwire-0.2.5}/src/lockwire/schema.py

@@ -519,8 +519,6 @@ class JointLimits(Base):
 
     @model_validator(mode="after")
     def _ordered(self) -> "JointLimits":
-        if self.lower is not None and self.upper is not None and self.lower >= self.upper:
-            raise ValueError(f"joint limit lower {self.lower} >= upper {self.upper}")
         if self.velocity is not None and self.velocity < 0:
             raise ValueError(f"joint velocity limit must be >= 0, got {self.velocity}")
         for limit in ("lower", "upper", "effort", "velocity"):
@@ -540,6 +538,21 @@ class Joint(Base):
     axis: tuple[float, float, float] | None = None
     limits: JointLimits | None = None
 
+    @model_validator(mode="after")
+    def _ordered(self) -> "Joint":
+        # Only a moving joint has a range: URDF ignores lower/upper on fixed and continuous
+        # joints, and real files carry lower="0" upper="0" there (Kinova's gen3_lite.urdf).
+        lim = self.limits
+        if (
+            self.type in ("revolute", "prismatic")
+            and lim
+            and lim.lower is not None
+            and lim.upper is not None
+            and lim.lower >= lim.upper
+        ):
+            raise ValueError(f"joint {self.name!r} limit lower {lim.lower} >= upper {lim.upper}")
+        return self
+
 
 def _model_structure_hash(links: list[Link], joints: list[Joint]) -> str:
     """Canonical v0.2 hash; axis and limits are load-bearing joint structure."""
@@ -1485,6 +1498,8 @@ class Budget(Base):
     sources: Literal["devices", "links", "links+devices"] = "devices"  # mass_total: what to
     # sum — explicit so double-counting a device that also appears in the URDF is a declared
     # choice, not an accident
+    nominal: Quantity | None = None  # mass_total only: the datasheet mass the sum must match
+    tolerance_pct: float | None = None  # with nominal; absent means exact
     owner: str
     provenance: Provenance | None = None
 
@@ -1505,6 +1520,14 @@ class Budget(Base):
             "mass_total": "mass",
         }[self.kind]
         _quantity_dimension(expected, f"{self.kind} budget limit")(self.limit)
+        if self.nominal is not None:
+            if self.kind != "mass_total":
+                raise ValueError("nominal is for mass_total budgets only")
+            _quantity_dimension("mass", "budget nominal")(self.nominal)
+            if self.nominal.base() <= 0:
+                raise ValueError("budget nominal must be positive")
+        if self.tolerance_pct is not None and (self.nominal is None or self.tolerance_pct < 0):
+            raise ValueError("tolerance_pct needs nominal and must not be negative")
         return self
 
 

{lockwire-0.2.4 → lockwire-0.2.5}/src/lockwire/urdf.py

@@ -259,7 +259,8 @@ def _parse_joint(el: ET.Element) -> Joint:
         )
     limit_el = el.find("limit")
     limits = None
-    if limit_el is not None:
+    # A mimic joint follows its parent and has no limits of its own (OnRobot's RG6 ships 0/0/effort 0).
+    if limit_el is not None and el.find("mimic") is None:
         lower_raw, upper_raw = limit_el.get("lower"), limit_el.get("upper")
         effort_raw, velocity_raw = limit_el.get("effort"), limit_el.get("velocity")
         limits = JointLimits(