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grutopia.core.util

joint

grutopia.core.util.joint.create_joint(prim_path, joint_type, body0=None, body1=None, enabled=True, joint_frame_in_parent_frame_pos=None, joint_frame_in_parent_frame_quat=None, joint_frame_in_child_frame_pos=None, joint_frame_in_child_frame_quat=None, break_force=None, break_torque=None)[source]

Creates a joint between @body0 and @body1 of specified type @joint_type

Parameters:

  • prim_path (str) – absolute path to where the joint will be created

  • joint_type (str or JointType) –

    type of joint to create. Valid options are: “FixedJoint”, “Joint”, “PrismaticJoint”, “RevoluteJoint”, “SphericalJoint”

    (equivalently, one of JointType)

  • body0 (str or None) – absolute path to the first body’s prim. At least @body0 or @body1 must be specified.

  • body1 (str or None) – absolute path to the second body’s prim. At least @body0 or @body1 must be specified.

  • enabled (bool) – whether to enable this joint or not.

  • joint_frame_in_parent_frame_pos (np.ndarray or None) – relative position of the joint frame to the parent frame (body0).

  • joint_frame_in_parent_frame_quat (np.ndarray or None) – relative orientation of the joint frame to the parent frame (body0).

  • joint_frame_in_child_frame_pos (np.ndarray or None) – relative position of the joint frame to the child frame (body1).

  • joint_frame_in_child_frame_quat (np.ndarray or None) – relative orientation of the joint frame to the child frame (body1).

  • break_force (float or None) – break force for linear dofs, unit is Newton.

  • break_torque (float or None) – break torque for angular dofs, unit is Newton-meter.

Returns:

Created joint prim

Return type:

Usd.Prim