A joint that allows two bodies to rotate around a shared anchor point. Access via the 'physics' submodule.
Experimental API:
The physics submodule is an experimental and new API that is highly susceptible to breaking changes in the future.
Inherits from Joint.
| Name | Description | Type |
|---|---|---|
spring_enabled | Whether the spring is enabled. | bool |
spring_hz | The spring frequency in Hertz. | float |
spring_damping_ratio | The spring damping ratio. | float |
target_angle | The target angle for the motor in radians. | float |
limit_enabled | Whether the angle limits are enabled. | bool |
motor_enabled | Whether the motor is enabled. | bool |
motor_speed | The target motor speed in radians per second. | float |
max_motor_torque | The maximum motor torque. | float |
lower_limit | The lower angle limit in radians. | float |
upper_limit | The upper angle limit in radians. | float |
angle | The current joint angle in radians. | float |
motor_torque | The current motor torque. | float |
set_limits(lower: float, upper: float) → Noneset_limits(lower: float, upper: float) → NoneSet the angle limits.
Args
lower : The lower angle limit in radians.upper : The upper angle limit in radians.