_joint_hinge
Module Contents
Classes
A hinge joint, also known as revolute joint. |
- class JointHinge
Bases:
simulation.scene._joint.Joint
A hinge joint, also known as revolute joint.
Rotates around a single axis.
- axis: pyrr.Vector3
Directional vector the joint rotates about.
- range: float
Rotation range of the joint in radians.
How much it can rotate to each side, in radians. So double this is the complete range of motion.
- effort: float
Maximum effort the joint can exert, in newton-meter.
- velocity: float
Maximum velocity of the joint, in radian per second.
- armature: float
Armature of the joint.
This represents the inertia of the motor itself when nothing is attached.
- pid_gain_p: float
Proportional gain of the pid position controller.
- pid_gain_d: float
Derivative gain of the pid position controller.