KinematicJoint

Interface

Abstract. One degree of freedom between two things, as the ontology's joint family states it.

interface KinematicJoint implements GraphNode {
  connectedDataSourceId: String
  coordinateFrameId: String
  dateCreated: DateTime
  dateUpdated: DateTime
  description: String
  exactType: String
  hasJointChild(filter: ThingFilter, transitive: Boolean = false): Thing
  hasJointChildEdges: [HasJointChildEdge]
  hasJointParent(filter: ThingFilter, transitive: Boolean = false): Thing
  hasJointParentEdges: [HasJointParentEdge]
  hasPoint(filter: PointFilter, transitive: Boolean = false): [Point]
  hasPointEdges: [HasPointEdge]
  hasPrimBinding(filter: OpenUSDPrimBindingFilter, transitive: Boolean = false): [OpenUSDPrimBinding]
  hasPrimBindingEdges: [HasPrimBindingEdge]
  id: String!
  isJointOf(filter: ThingFilter): [Thing]
  isJointOfEdges: [IsJointOfEdge]
  jointAxis: [Float]
  mappingKey: String
  name: String
  type: [String]
}

Implements

• GraphNode

Fields

Field	Type	Description
connectedDataSourceId	String
coordinateFrameId	String	An id in the coordinate-frame registry - the frame jointAxis is expressed in.
dateCreated	DateTime
dateUpdated	DateTime
description	String
exactType	String
hasJointChild	Thing	The thing this joint moves. Arguments: filter: ThingFilter, transitive: Boolean = false
hasJointChildEdges	[HasJointChildEdge]
hasJointParent	Thing	The thing this joint is fixed to. Arguments: filter: ThingFilter, transitive: Boolean = false
hasJointParentEdges	[HasJointParentEdge]
hasPoint	[Point]	The point or points whose value is this joint's state. Arguments: filter: PointFilter, transitive: Boolean = false
hasPointEdges	[HasPointEdge]
hasPrimBinding	[OpenUSDPrimBinding]	The authored physics-joint prim. Arguments: filter: OpenUSDPrimBindingFilter, transitive: Boolean = false
hasPrimBindingEdges	[HasPrimBindingEdge]
id	String!
isJointOf	[Thing]	The things this joint belongs to - the assembly that declares it with hasJoint. Arguments: filter: ThingFilter
isJointOfEdges	[IsJointOfEdge]
jointAxis	[Float]	Signed unit axis in the joint frame, three components. A reversed wheel is a negated axis.
mappingKey	String
name	String
type	[String]

Implemented by

• PrismaticJoint
• RevoluteJoint

Used by

• Connector.kinematicJoints (field)
• kinematicJoints (query)
• Thing.hasJoint (field)
• Thing.isJointChildOf (field)
• Thing.isJointParentOf (field)