Joint Data-Block

The items in the joint data block are explained below.

  • #### name:

The name of the joint. For internal AMBF Usage ***

  • #### parent:

The name of the parent body

***

  • #### child:

The name of the child body ***

  • #### parent axis:

The axis along the parent body’s frame along which the joint is required. ***

  • #### parent pivot:

The xyz offset in the parent’s body frame where the origin of the joint is required. ***

  • #### child axis:

The axis along the child body’s frame along which the joint is required. ***

  • #### child pivot:

The xyz offset in the child’s body frame where the origin of the joint is required. ***

  • #### joint limits:

Limits of this joint. Revolute, Prismatic and Spring joints have limits. Continuous (revolute without limits) are free hinge joints. ***

  • #### type:

What type of joint is this. Supported types are REVOLUTE, PRISMATIC, FIXED, LINEAR SPRING and ANGULAR SPRING. ***

  • #### offset:

The offset in Radians applied to the child’s body frame, carried out along the parent’s axis (parent’s joint axis). __Needs more explanation__ ***

  • #### joint erp:

Override the global ERP for this joint. ***

  • #### joint cfm:

Overrride the global cfm for this joint ***

  • #### stiffness:

Stiffness for SPRING joints. Only applicable for LINEAR and ANGULAR SPRING joints ***

  • #### damping:

Damping for this joint. WIP on the AMBF Simulator ***

  • #### controller:

Joint PD controller. Specify the values of the P and D for joint control