raisim::urdf::UrdfJoint
struct · #include <raisim/object/ArticulatedSystem/loaders.hpp>
Internal: URDF joint element parsed by LoadFromURDF2.
Constructors & destructor
UrdfJoint
cpp
UrdfJoint()Public attributes
name
cpp
std::string nameJoint name.
parent
cpp
std::string parentParent link name.
child
cpp
std::string childChild link name.
type
cpp
Joint::Type typeJoint type.
origin
cpp
Vec<3> originJoint origin offset in parent frame.
rot
cpp
Mat<3, 3> rotJoint orientation in parent frame.
axis
cpp
Vec<3> axisJoint axis in the joint frame.
limit
cpp
Vec<2> limitJoint limits (lower, upper).
damping
cpp
double dampingJoint damping coefficient.
friction
cpp
double frictionJoint friction coefficient.
stiffness
cpp
double stiffnessJoint stiffness coefficient.
rotor_inertia
cpp
double rotor_inertiaRotor inertia about the joint axis.
torque_limit
cpp
double torque_limitTorque limit ("effort"; non-positive means unlimited).
velocity_limit
cpp
double velocity_limitVelocity limit ("velocity").
springMountPos
cpp
Vec<4> springMountPosSpring mount position for torsional/linear springs.