Multibody Joint Data Block - VigneshManoj/ambf GitHub Wiki

The 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