v14.joint.Joint

Warning

This class is autogenerated. More detailed documentation can be found in the SDFormat spec.

class v14.joint.Joint(parent='__default__', child='__default__', pose='0 0 0 0 0 0', gearbox_ratio=1.0, gearbox_reference_body='__default__', thread_pitch=1.0, axis=None, axis2=None, physics=None, sensor=<factory>, name=None, type=None)

A joint connections two links with kinematic and dynamic properties.

Parameters
parent: Name of the parent link
child: Name of the child link
pose: offset from child link origin in child link frame.
gearbox_ratio: Parameter for gearbox joints. Given theta_1 and

theta_2 defined in description for gearbox_reference_body, theta_2 = -gearbox_ratio * theta_1.

gearbox_reference_body: Parameter for gearbox joints. Gearbox ratio

is enforced over two joint angles. First joint angle (theta_1) is the angle from the gearbox_reference_body to the parent link in the direction of the axis element and the second joint angle (theta_2) is the angle from the gearbox_reference_body to the child link in the direction of the axis2 element.

thread_pitch: Parameter for screw joints.
axis: The joint axis specified in the parent model frame. This is

the axis of rotation for revolute joints, the axis of translation for prismatic joints. The axis is currently specified in the parent model frame of reference, but this will be changed to the joint frame in future version of SDFormat (see gazebo issue #494).

axis2: The second joint axis specified in the parent model frame.

This is the second axis of rotation for revolute2 joints and universal joints. The axis is currently specified in the parent model frame of reference, but this will be changed to the joint frame in future version of SDFormat (see gazebo issue #494).

physics: Parameters that are specific to a certain physics engine.
sensor: The sensor tag describes the type and properties of a

sensor.

name: A unique name for the joint within the scope of the model.
type: The type of joint, which must be one of the following:

(revolute) a hinge joint that rotates on a single axis with either a fixed or continuous range of motion, (gearbox) geared revolute joints, (revolute2) same as two revolute joints connected in series, (prismatic) a sliding joint that slides along an axis with a limited range specified by upper and lower limits, (ball) a ball and socket joint, (universal), like a ball joint, but constrains one degree of freedom, (piston) similar to a Slider joint except that rotation around the translation axis is possible.

Nested Elements

Note that only complex elements are listed here. Elements that resolve to simple types (int, str, bool) are inlined.

v14.joint.Joint.Axis([xyz, dynamics, limit])

The joint axis specified in the parent model frame.

v14.joint.Joint.Axis2([xyz, dynamics, limit])

The second joint axis specified in the parent model frame.

v14.joint.Joint.Physics([simbody, ode, ...])

Parameters that are specific to a certain physics engine.