Joint
A joint connection between two links with kinematic and dynamic properties. Notice that a joint will always be between two links. The number of joints is equal to the number of links minus one.
Attributes
- Name: The name used when referring to this element from other places.
Mandatory children
- origin: Transformation frame respect to the declared child's frame of reference
- Var: smtk_transform
- Type: constant
- Default value:
0 0 0 0 0 0 1
- Value labels:
x y z qx qy qz qw
- parent: The name of the parent link.
- Var: smtk_link
- Type: constant
- child: The name of the child link.
- Var: smtk_link
- Type: constant
- axis: Indicates the axis of the joint. Multiple space-separated values can be given.
- Var: smtk_axis_array
- Type: constant
- Default value:
fixed
- Possible options:
x
,y
,z
,rx
,ry
,rz
,fixed
- initial_position: Default position for the joint. Multiple space-separated values can be given if more than one axis is used for the joint.
- Var: smtk_vector
- Type: input
- default:
0
- limits: Specifies a variety of limits for the joint.
Optional children
-
dynamics: Specifies a variety of dynamical properties of the joint
-
joint_sensor: This sensor can be used to detect properties of the current state of the joint.
-
joint_motor: The joint motor can be used to set the joint in motion.
-
override_iterations: It overrides the default constraint solver iteration value.
- Var: smtk_int
- Type: constant
- default:
50