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drive.md

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Drive

from tdw.robot_data.drive import Drive

Static data for a joint drive.

Fields

  • axis The axis of rotation. Can be "x", "y", or "z".

  • limits Tuple: The lower and upper limits of the drive rotation in degrees.

  • force_limit The limit of how much force can be applied to the drive.

  • damping The damping value.

  • stiffness The stiffness value.

Functions

__init__

Drive(sr, joint_index, drive_index)

Parameter Type Default Description
sr StaticRobot The StaticRobot output data.
joint_index int The index of the joint in the output data that this drive belongs to.
drive_index int The index of this drive in the joint data.