Skip to content

Latest commit

 

History

History
46 lines (25 loc) · 1.3 KB

joint_static.md

File metadata and controls

46 lines (25 loc) · 1.3 KB
Raw

JointStatic

from tdw.robot_data.joint_static import JointStatic

Static robot joint data.

Fields

  • joint_id The ID of this joint.

  • name The name of the joint.

  • joint_type The type of joint.

  • segmentation_color The segmentation color of this joint as an [r, g, b] numpy array.

  • mass The mass of this joint.

  • immovable If True, this joint is immovable.

  • root If True, this is the root joint.

  • parent_id The ID of this joint's parent joint. Ignore if self.root == True.

  • drives A dictionary of Drive data for each of the robot's joints. Key = The drive axis ("x", "y", or "z").

  • num_dof The number of degrees of freedom. This is equivalent to len(self.drives).

  • dynamic_index The index in the overall list of joints in DynamicRobots output data. This is used internally; you almost always want self.joint_id.

Functions

__init__

JointStatic(static_robot, static_index, dynamic_index)

Parameter Type Default Description
static_robot StaticRobot Static robot output data from the build.
static_index int The index of this joint in the list of joints.
dynamic_index int The index in the overall list of joints in DynamicRobots output data.