concepts.simulator.sapien2.urdf_exporter.export_joint#
- export_joint(joint)[source]#
Export an articulation joint. No joint mimic support yet. If the joint has no parent_link (joint from root link to 1st robot link), generates <joint name=”__root_joint__” type=”fixed”>
<parent link=”__world__”></parent> <child link=”link_base”></child>
</joint>
Otherwise, generates an extra dummy link and a dummy joint because SAPIEN allows joint and child link to have different frames. Sample output: <joint name=”joint1” type=”revolute”>
<origin rpy=”3.1415927410125732 -0.0 0.0” xyz=”0.0 0.0 0.0”></origin> <axis xyz=”1 0 0”></axis> <parent link=”link_base”></parent> <child link=”link_dummy_1”></child> <limit effort=”100.0” lower=”-6.2831855” upper=”6.2831855” velocity=”0”></limit> <dynamics damping=”50000.0” friction=”0.05000000074505806”></dynamics>
</joint> <link name=”link_dummy_1”></link> <joint name=”joint_dummy_1” type=”fixed”>
<origin rpy=”3.1415927410125732 -0.0 0.0” xyz=”-1.0 1.0 2.0”></origin> <parent link=”link_dummy_1”></parent> <child link=”link_1”></child>
</joint>