RigidJoint（刚体关节）#
gs.RigidJoint 类是 Genesis 项目中的一个刚体关节类。它提供了对刚体关节的各种操作和属性的访问。
- class genesis.engine.entities.rigid_entity.rigid_joint.RigidJoint(entity, name, idx, q_start, dof_start, n_qs, n_dofs, type, pos, quat, dofs_motion_ang, dofs_motion_vel, dofs_limit, dofs_invweight, dofs_stiffness, dofs_sol_params, dofs_damping, dofs_armature, dofs_kp, dofs_kv, dofs_force_range, init_qpos)[源代码]#
基类：
RBCJoint class for rigid body entities. Each RigidLink is connected to its parent link via a RigidJoint.
- property uid#
Returns the unique id of the joint.
- property name#
Returns the name of the joint.
- property entity#
Returns the entity that the joint belongs to.
- property solver#
The RigidSolver object that the joint belongs to.
- property link#
Returns the child link that of the joint.
- property idx#
Returns the global index of the joint in the rigid solver.
- property idx_local#
Returns the local index of the joint in the entity.
- property init_qpos#
Returns the initial joint position.
- property n_qs#
Returns the number of q (generalized coordinate) variables that the joint has.
- property n_dofs#
Returns the number of dofs that the joint has.
- property type#
Returns the type of the joint.
- property pos#
Returns the initial position of the joint in the world frame.
- property quat#
Returns the initial quaternion of the joint in the world frame.
- property q_start#
Returns the starting index of the q variables of the joint in the rigid solver.
- property dof_start#
Returns the starting index of the dofs of the joint in the rigid solver.
- property q_end#
Returns the ending index of the q variables of the joint in the rigid solver.
- property dof_end#
Returns the ending index of the dofs of the joint in the rigid solver.
- property dof_idx#
Returns all the dof indices of the joint in the rigid solver.
- property dof_idx_local#
Returns the local dof index of the joint in the entity.
- property q_idx#
Returns all the q indices of the joint in the rigid solver.
- property q_idx_local#
Returns all the local q indices of the joint in the entity.
- property dofs_motion_ang#
- property dofs_motion_vel#
- property dofs_limit#
Returns the range limit of the dofs of the joint.
- property dofs_invweight#
Returns the invweight of the dofs of the joint.
- property dofs_stiffness#
Returns the stiffness of the dofs of the joint.
- property dofs_sol_params#
Retruns the solver parameters of the dofs of the joint.
- property dofs_damping#
Returns the damping of the dofs of the joint.
- property dofs_armature#
Returns the armature of the dofs of the joint.
- property dofs_kp#
Returns the kp (positional gain) of the dofs of the joint.
- property dofs_kv#
Returns the kv (velocity gain) of the dofs of the joint.
- property dofs_force_range#
Returns the force range of the dofs of the joint.
- property is_built#
Returns whether the entity the joint belongs to is built.