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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

  • Rotation order : Changes the rotation order of joints.

    • Var: smtk_int
    • Type: constant
    • Default: -1
    • Possible options: Value from -1 to 5. -1:Default 0:XYZ, 1:XZY, 2:YXZ, 3:YZX, 4:ZXY, 5:ZYX

  • Breaking impulse threshold : The maximum allowed impulse in the locker before it breaks. If this variable is not set or is equal to 0, the impulse will be unlimited.

    • Var: smtk_float
    • Type: input
    • Default: 100

  • Disable collisions between linked bodies : This flag disables collisions between linked bodies by default (if set to True), enhancing stability. Otherwise, if set to False, linked bodies will collide.

    • Var: smtk_bool
    • Type: input
    • Default: true
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