JointDynamic

from tdw.robot_data.joint_dynamic import JointDynamic

Dynamic info for a joint that can change per-frame, such as its current position.

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Fields

• joint_id The ID of this joint.

• position The worldspace position of this joint as an [x, y, z] numpy array.

• angles The angles of each axis of the joint in degrees. For prismatic joints, you need to convert this from degrees to radians in order to get the correct distance in meters.

• moving If True, this joint is currently moving.

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Functions

__init__

JointDynamic(joint_id, position, angles, moving)

Parameter	Type	Default	Description
joint_id	int		The ID of this joint.
position	np.ndarray		The worldspace position of this joint as an [x, y, z] numpy array.
angles	np.ndarray		The angles of each axis of the joint in degrees as a numpy array. For prismatic joints, you need to convert this from degrees to radians in order to get the correct distance in meters.
moving	bool		If True, this joint is currently moving.