JointStatic

from tdw.robot_data.joint_static import JointStatic

Static robot joint data.

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Fields

• joint_id The ID of this joint.

• name The name of the joint.

• joint_type The type of joint.

• segmentation_color The segmentation color of this joint as an [r, g, b] numpy array.

• mass The mass of this joint.

• immovable If True, this joint is immovable.

• root If True, this is the root joint.

• parent_id The ID of this joint's parent joint. Ignore if self.root == True.

• drives A dictionary of Drive data for each of the robot's joints. Key = The drive axis ("x", "y", or "z").

• num_dof The number of degrees of freedom. This is equivalent to len(self.drives).

• dynamic_index The index in the overall list of joints in DynamicRobots output data. This is used internally; you almost always want self.joint_id.

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Functions

__init__

JointStatic(static_robot, static_index, dynamic_index)

Parameter	Type	Default	Description
static_robot	StaticRobot		Static robot output data from the build.
static_index	int		The index of this joint in the list of joints.
dynamic_index	int		The index in the overall list of joints in DynamicRobots output data.