Gazebo

Universal Joint
[Joints]


Detailed Description

A universal joint.

Attributes
  • body1 (string)
    • Name of the first body to attach to the joint
  • body2 (string)
    • Name of the second body to attach to the joint
  • anchor (string)
    • Name of the body which will act as the anchor to the joint
  • axis1 (float, tuple)
    • Defines the axis of rotation for the first degree of freedom
    • Default: 0 0 1
  • axis2 (float, tuple)
    • Defines the axis of rotation for the second degree of freedom
    • Default: 0 0 1
  • lowStop1 (float, degrees)
    • The low stop angle for the first degree of freedom
    • Default: infinity
  • highStop1 (float, degrees)
    • The high stop angle for the first degree of freedom
    • Default: infinity
  • lowStop2 (float, degrees)
    • The low stop angle for the second degree of freedom
    • Default: infinity
  • highStop2 (float, degrees)
    • The high stop angle for the second degree of freedom
    • Default: infinity
Example
  <joint:universal name="universal_joint>
    <body1>body1_name</body1>
    <body2>body2_name</body2>
    <anchor>anchor_body</anchor>
    <axis1>0 0 1</axis1>
    <axis2>0 1 0</axis2>
    <lowStop1>0</lowStop1>
    <highStop1>30</highStop1>
    <lowStop2>0</lowStop2>
    <highStop2>30</highStop2>
  </joint:universal>
  


Classes

class  UniversalJoint
 A universal joint. More...


Last updated Aug 04 2007