RobotModel.add_joint

RobotModel.add_joint(name, type, parent_link, child_link, origin=None, axis=None, limit=None, **kwargs)[source]

Adds a joint to the robot model.

Provides an easy way to programmatically add a joint to the robot model.

Parameters

name (str) – The name of the joint
type (int) – The joint type, e.g. Joint.REVOLUTE
parent_link (Link) – The joint’s parent link.
child_link (Link) – The joint’s child link.
origin (compas.geometry.Frame) – The joint’s origin frame.
axis (compas.geometry.Vector) – The joint’s axis.
limit (list of 2 float) – The lower and upper limits of the joint (used for joint types Joint.REVOLUTE or Joint.PRISMATIC)

Returns

Joint – The created Joint

Raises

ValueError – If the joint name is already used in the chain.

Examples

>>> from compas.geometry import Frame
>>> robot = RobotModel('robot')
>>> parent_link = robot.add_link('link0')
>>> child_link = robot.add_link('link1')
>>> origin = Frame.worldXY()
>>> axis = (1, 0, 0)
>>> j = robot.add_joint("joint1", Joint.CONTINUOUS, parent_link, child_link, origin, axis)

RobotModel.add_joint

COMPAS