v17.joint.Joint

Warning

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

class v17.joint.Joint(parent='__default__', child='__default__', gearbox_ratio=1.0, gearbox_reference_body='__default__', thread_pitch=1.0, axis=None, axis2=None, physics=None, pose=None, sensor=<factory>, name=None, type=None)

A joint connects two links with kinematic and dynamic properties.

By default, the pose of a joint is expressed in the child link frame.

Parameters
parent: Name of the parent link or “world”.
child: Name of the child link. The value “world” may not be

specified.

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: Parameters related to the axis of rotation for revolute

joints, the axis of translation for prismatic joints.

axis2: Parameters related to the second axis of rotation for

revolute2 joints and universal joints.

physics: Parameters that are specific to a certain physics engine.
pose: A position(x,y,z) and orientation(roll, pitch yaw) with

respect to the frame named in the relative_to attribute.

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:

(continuous) a hinge joint that rotates on a single axis with a continuous range of motion, (revolute) a hinge joint that rotates on a single axis with a fixed 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, (screw) a single degree of freedom joint with coupled sliding and rotational motion, (universal) like a ball joint, but constrains one degree of freedom, (fixed) a joint with zero degrees of freedom that rigidly connects two links.

Nested Elements

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

v17.joint.Joint.Axis([initial_position, ...])

Parameters related to the axis of rotation for revolute joints, the axis of translation for prismatic joints.

v17.joint.Joint.Axis2([initial_position, ...])

Parameters related to the second axis of rotation for revolute2 joints and universal joints.

v17.joint.Joint.Physics([simbody, ode, ...])

Parameters that are specific to a certain physics engine.

v17.joint.Joint.Pose([value, relative_to])

Parameters