ToolModel.add_joint

ToolModel.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 (Frame) – The joint’s origin frame.

  • axis (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)

  • **kwargs (dict[str, Any], optional) – The keyword arguments (kwargs) collected in a dict. These allow using non-standard attributes absent in the URDF specification.

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)