6/10/2023 0 Comments Docs2 physics jointsMasses sliding, one moving relative to a fixed body and the other relative To further demonstrate the use of the prismatic joint, the kinematics of two > from import Body, PrismaticJoint > parent = Body ( 'P' ) > parent P > child = Body ( 'C' ) > child C > joint = PrismaticJoint ( 'PC', parent, child ) > joint PrismaticJoint: PC parent: P child: C > joint. PrismaticJoint ( name, parent, child, coordinates = None, speeds = None, parent_point = None, child_point = None, parent_axis = None, child_axis = None, parent_interframe = None, child_interframe = None, joint_axis = None, parent_joint_pos = None, child_joint_pos = None ) # Note that the components of this axis are the same in the parent_interframe and child_interframe.Īxis about which the child rotates with respect to the parent. (Vector) The axis about which the rotation occurs. The default value is dynamicsymbols(f'q_'). (Matrix) Matrix of the joint’s generalized coordinates. PinJoint ( name, parent, child, coordinates = None, speeds = None, parent_point = None, child_point = None, parent_axis = None, child_axis = None, parent_interframe = None, child_interframe = None, joint_axis = None, parent_joint_pos = None, child_joint_pos = None ) # Matrix of the joint’s generalized speeds. property parent_point #Īttachment point where the joint is fixed to the parent body. Kinematical differential equations of the joint. Matrix of the joint’s generalized coordinates. property child_point #Īttachment point where the joint is fixed to the child body. (Matrix) Kinematical differential equations of the joint.Ĭhild body of Joint. (ReferenceFrame) Intermediate frame of the child body with respect to which the joint transformation is formulated. (ReferenceFrame) Intermediate frame of the parent body with respect to which the joint transformation is formulated. (Vector) The axis fixed in the child frame that represents the joint. (Vector) The axis fixed in the parent frame that represents the joint. (Point) Attachment point where the joint is fixed to the child body. (Point) Attachment point where the joint is fixed to the parent body. (Matrix) Matrix of the joint’s generalized speeds. In the case where the provided vector is in the -body.xĭirection, the rotation is done about the body.y axis. This rotation axis isĭetermined by taking the cross product of the body.x axis with the With a single fixed rotation about a rotation axis. Is created which aligns its X axis with the provided vector. When providing a vector as the intermediate frame, a new intermediate frame Custom joint can be created by inheriting Joint class and This is the base classįor all specific joints and holds all common methods acting as an interfaceįor all joints. See Change in joint attachment point argument for more information.Ī joint subtracts degrees of freedom from a body. Deprecated since version 1.12: This argument is replaced by child_point and will be removed in a
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