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Joint

This module contains classes for defining joints in a URDF robot model.

Class
  • BaseJoint: Abstract base class for joint objects.
  • DummyJoint: Represents a dummy joint.
  • RevoluteJoint: Represents a revolute joint.
  • ContinuousJoint: Represents a continuous joint.
  • PrismaticJoint: Represents a prismatic joint.
  • FixedJoint: Represents a fixed joint.
  • FloatingJoint: Represents a floating joint.
  • PlanarJoint: Represents a planar joint.
Dataclass
  • JointLimits: Contains the limits for a joint.
  • JointMimic: Contains the mimic information for a joint.
  • JointDynamics: Contains the dynamics information for a joint.
  • Axis: Contains the axis information for a joint.
  • Origin: Contains the origin information for a joint.
Enum
  • JointType: Enumerates the possible joint types in Onshape (revolute, continuous, prismatic, fixed, floating, planar).

BaseJoint dataclass

Bases: ABC

Abstract base class for joint objects.

Attributes:

Name Type Description
name str

The name of the joint.
parent str

The parent link of the joint.
child str

The child link of the joint.
origin Origin

The origin of the joint.

Methods:

Name Description
to_xml

Converts the joint to an XML element.
Abstract Properties

joint_type: Returns the type of the joint.

Source code in onshape_robotics_toolkit\models\joint.py 
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@dataclass
class BaseJoint(ABC):
    """
    Abstract base class for joint objects.

    Attributes:
        name (str): The name of the joint.
        parent (str): The parent link of the joint.
        child (str): The child link of the joint.
        origin (Origin): The origin of the joint.

    Methods:
        to_xml: Converts the joint to an XML element.

    Abstract Properties:
        joint_type: Returns the type of the joint.
    """

    name: str
    parent: str
    child: str
    origin: Origin

    def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
        """
        Convert the joint to an XML element.

        Args:
            root: The root element to append the joint to.

        Returns:
            The XML element representing the joint.
        """

        joint = ET.Element("joint") if root is None else ET.SubElement(root, "joint")
        joint.set("name", self.name)
        joint.set("type", self.joint_type)
        self.origin.to_xml(joint)
        ET.SubElement(joint, "parent", link=self.parent)
        ET.SubElement(joint, "child", link=self.child)
        return joint

    def to_mjcf(self, root: ET.Element) -> None:
        """
        Converts the joint to an XML element and appends it to the given root element.

        Args:
            root: The root element to append the joint to.
        """

        joint = ET.SubElement(root, "joint", name=self.name, type=MJCF_JOINT_MAP[self.joint_type])
        joint.set("pos", " ".join(map(str, self.origin.xyz)))

    @property
    @abstractmethod
    def joint_type(self) -> str: ...

    @classmethod
    @abstractmethod
    def from_xml(cls, element: ET.Element) -> "BaseJoint": ...

to_mjcf(root)

Converts the joint to an XML element and appends it to the given root element.

Parameters:

Name Type Description Default
root Element

The root element to append the joint to.

 required
Source code in onshape_robotics_toolkit\models\joint.py 
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def to_mjcf(self, root: ET.Element) -> None:
    """
    Converts the joint to an XML element and appends it to the given root element.

    Args:
        root: The root element to append the joint to.
    """

    joint = ET.SubElement(root, "joint", name=self.name, type=MJCF_JOINT_MAP[self.joint_type])
    joint.set("pos", " ".join(map(str, self.origin.xyz)))

to_xml(root=None)

Convert the joint to an XML element.

Parameters:

Name Type Description Default
root Optional[Element]

The root element to append the joint to.

 None

Returns:

Type Description
Element

The XML element representing the joint.
Source code in onshape_robotics_toolkit\models\joint.py 
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def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
    """
    Convert the joint to an XML element.

    Args:
        root: The root element to append the joint to.

    Returns:
        The XML element representing the joint.
    """

    joint = ET.Element("joint") if root is None else ET.SubElement(root, "joint")
    joint.set("name", self.name)
    joint.set("type", self.joint_type)
    self.origin.to_xml(joint)
    ET.SubElement(joint, "parent", link=self.parent)
    ET.SubElement(joint, "child", link=self.child)
    return joint

ContinuousJoint dataclass

Bases: BaseJoint

Represents a continuous joint.

Attributes:

Name Type Description
mimic JointMimic

The mimic information for the joint.

Methods:

Name Description
to_xml

Converts the continuous joint to an XML element.
Properties

joint_type: The type of the joint.

Examples:

>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
>>> joint = ContinuousJoint(
...     name="joint1",
...     parent="base_link",
...     child="link1",
...     origin=origin,
...     mimic=mimic,
... )
>>> joint.to_xml()
<Element 'joint' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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@dataclass
class ContinuousJoint(BaseJoint):
    """
    Represents a continuous joint.

    Attributes:
        mimic (JointMimic): The mimic information for the joint.

    Methods:
        to_xml: Converts the continuous joint to an XML element.

    Properties:
        joint_type: The type of the joint.

    Examples:
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        >>> joint = ContinuousJoint(
        ...     name="joint1",
        ...     parent="base_link",
        ...     child="link1",
        ...     origin=origin,
        ...     mimic=mimic,
        ... )
        >>> joint.to_xml()
        <Element 'joint' at 0x7f8b3c0b4c70>
    """

    mimic: JointMimic | None = None

    def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
        """
        Convert the continuous joint to an XML element.

        Args:
            root: The root element to append the continuous joint to.

        Returns:
            The XML element representing the continuous joint.

        Examples:
            >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
            >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
            >>> joint = ContinuousJoint(
            ...     name="joint1",
            ...     parent="base_link",
            ...     child="link1",
            ...     origin=origin,
            ...     mimic=mimic,
            ... )
            >>> joint.to_xml()
            <Element 'joint' at 0x7f8b3c0b4c70>
        """

        joint = super().to_xml(root)
        if self.mimic is not None:
            self.mimic.to_xml(joint)
        return joint

    def to_mjcf(self, root):
        return super().to_mjcf(root)

    @classmethod
    def from_xml(cls, element: ET.Element) -> "ContinuousJoint":
        """
        Create a continuous joint from an XML element.

        Args:
            element: The XML element to create the continuous joint from.

        Returns:
            The continuous joint created from the XML element.

        Examples:
            >>> element = ET.Element("joint")
            >>> element.set("name", "joint1")
            >>> element.set("type", "continuous")
            >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
            >>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
            >>> ET.SubElement(element, "parent", link="base_link")
            >>> ET.SubElement(element, "child", link="link1")
            >>> mimic = ET.SubElement(element, "mimic", joint="joint1", multiplier="1.0", offset="0.0")
            >>> ContinuousJoint.from_xml(element)

            ContinuousJoint(
                name="joint1",
                parent="base_link",
                child="link1",
                origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)),
                mimic=JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
            )
        """

        name = element.attrib["name"]
        parent = element.find("parent").attrib["link"]
        child = element.find("child").attrib["link"]
        origin = Origin.from_xml(element.find("origin"))

        # Handle mimic
        mimic_element = element.find("mimic")
        mimic = JointMimic.from_xml(mimic_element) if mimic_element is not None else None

        return cls(name, parent, child, origin, mimic)

    @property
    def joint_type(self) -> str:
        """
        The type of the joint.

        Returns:
            The type of the joint: "continuous".
        """

        return JointType.CONTINUOUS

joint_type: str property

The type of the joint.

Returns:

Type Description
str

The type of the joint: "continuous".

from_xml(element) classmethod

Create a continuous joint from an XML element.

Parameters:

Name Type Description Default
element Element

The XML element to create the continuous joint from.

 required

Returns:

Type Description
ContinuousJoint

The continuous joint created from the XML element.

Examples:

>>> element = ET.Element("joint")
>>> element.set("name", "joint1")
>>> element.set("type", "continuous")
>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
>>> ET.SubElement(element, "parent", link="base_link")
>>> ET.SubElement(element, "child", link="link1")
>>> mimic = ET.SubElement(element, "mimic", joint="joint1", multiplier="1.0", offset="0.0")
>>> ContinuousJoint.from_xml(element)

ContinuousJoint( name="joint1", parent="base_link", child="link1", origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)), mimic=JointMimic(joint="joint1", multiplier=1.0, offset=0.0) )

Source code in onshape_robotics_toolkit\models\joint.py 
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@classmethod
def from_xml(cls, element: ET.Element) -> "ContinuousJoint":
    """
    Create a continuous joint from an XML element.

    Args:
        element: The XML element to create the continuous joint from.

    Returns:
        The continuous joint created from the XML element.

    Examples:
        >>> element = ET.Element("joint")
        >>> element.set("name", "joint1")
        >>> element.set("type", "continuous")
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
        >>> ET.SubElement(element, "parent", link="base_link")
        >>> ET.SubElement(element, "child", link="link1")
        >>> mimic = ET.SubElement(element, "mimic", joint="joint1", multiplier="1.0", offset="0.0")
        >>> ContinuousJoint.from_xml(element)

        ContinuousJoint(
            name="joint1",
            parent="base_link",
            child="link1",
            origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)),
            mimic=JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        )
    """

    name = element.attrib["name"]
    parent = element.find("parent").attrib["link"]
    child = element.find("child").attrib["link"]
    origin = Origin.from_xml(element.find("origin"))

    # Handle mimic
    mimic_element = element.find("mimic")
    mimic = JointMimic.from_xml(mimic_element) if mimic_element is not None else None

    return cls(name, parent, child, origin, mimic)

to_xml(root=None)

Convert the continuous joint to an XML element.

Parameters:

Name Type Description Default
root Optional[Element]

The root element to append the continuous joint to.

 None

Returns:

Type Description
Element

The XML element representing the continuous joint.

Examples:

>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
>>> joint = ContinuousJoint(
...     name="joint1",
...     parent="base_link",
...     child="link1",
...     origin=origin,
...     mimic=mimic,
... )
>>> joint.to_xml()
<Element 'joint' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
    """
    Convert the continuous joint to an XML element.

    Args:
        root: The root element to append the continuous joint to.

    Returns:
        The XML element representing the continuous joint.

    Examples:
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        >>> joint = ContinuousJoint(
        ...     name="joint1",
        ...     parent="base_link",
        ...     child="link1",
        ...     origin=origin,
        ...     mimic=mimic,
        ... )
        >>> joint.to_xml()
        <Element 'joint' at 0x7f8b3c0b4c70>
    """

    joint = super().to_xml(root)
    if self.mimic is not None:
        self.mimic.to_xml(joint)
    return joint

DummyJoint dataclass

Bases: BaseJoint

Represents a dummy joint.

Properties

joint_type: The type of the joint.

Examples:

>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> joint = DummyJoint(
...     name="joint1",
...     parent="base_link",
...     child="link1",
...     origin=origin,
... )
>>> joint.joint_type
'dummy'
Source code in onshape_robotics_toolkit\models\joint.py 
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@dataclass
class DummyJoint(BaseJoint):
    """
    Represents a dummy joint.

    Properties:
        joint_type: The type of the joint.

    Examples:
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> joint = DummyJoint(
        ...     name="joint1",
        ...     parent="base_link",
        ...     child="link1",
        ...     origin=origin,
        ... )
        >>> joint.joint_type
        'dummy'
    """

    @classmethod
    def from_xml(cls, element: ET.Element) -> "DummyJoint":
        """
        Create a dummy joint from an XML element.

        Args:
            element: The XML element to create the dummy joint from.

        Returns:
            The dummy joint created from the XML element.

        Examples:
            >>> element = ET.Element("joint")
            >>> element.set("name", "joint1")
            >>> element.set("type", "dummy")
            >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
            >>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
            >>> ET.SubElement(element, "parent", link="base_link")
            >>> ET.SubElement(element, "child", link="link1")
            >>> DummyJoint.from_xml(element)
            DummyJoint(name="joint1", parent="base_link", child="link1", origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)))
        """

        name = element.attrib["name"]
        parent = element.find("parent").attrib["link"]
        child = element.find("child").attrib["link"]
        origin = Origin.from_xml(element.find("origin"))
        return cls(name, parent, child, origin)

    @property
    def joint_type(self) -> str:
        """
        The type of the joint.

        Returns:
            The type of the joint: "dummy".
        """

        return "dummy"

joint_type: str property

The type of the joint.

Returns:

Type Description
str

The type of the joint: "dummy".

from_xml(element) classmethod

Create a dummy joint from an XML element.

Parameters:

Name Type Description Default
element Element

The XML element to create the dummy joint from.

 required

Returns:

Type Description
DummyJoint

The dummy joint created from the XML element.

Examples:

>>> element = ET.Element("joint")
>>> element.set("name", "joint1")
>>> element.set("type", "dummy")
>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
>>> ET.SubElement(element, "parent", link="base_link")
>>> ET.SubElement(element, "child", link="link1")
>>> DummyJoint.from_xml(element)
DummyJoint(name="joint1", parent="base_link", child="link1", origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)))
Source code in onshape_robotics_toolkit\models\joint.py 
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@classmethod
def from_xml(cls, element: ET.Element) -> "DummyJoint":
    """
    Create a dummy joint from an XML element.

    Args:
        element: The XML element to create the dummy joint from.

    Returns:
        The dummy joint created from the XML element.

    Examples:
        >>> element = ET.Element("joint")
        >>> element.set("name", "joint1")
        >>> element.set("type", "dummy")
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
        >>> ET.SubElement(element, "parent", link="base_link")
        >>> ET.SubElement(element, "child", link="link1")
        >>> DummyJoint.from_xml(element)
        DummyJoint(name="joint1", parent="base_link", child="link1", origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)))
    """

    name = element.attrib["name"]
    parent = element.find("parent").attrib["link"]
    child = element.find("child").attrib["link"]
    origin = Origin.from_xml(element.find("origin"))
    return cls(name, parent, child, origin)

FixedJoint dataclass

Bases: BaseJoint

Represents a fixed joint.

Methods:

Name Description
to_xml

Converts the fixed joint to an XML element.
Properties

joint_type: The type of the joint.

Examples:

>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> joint = FixedJoint(
...     name="joint1",
...     parent="base_link",
...     child="link1",
...     origin=origin,
... )
>>> joint.to_xml()
<Element 'joint' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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@dataclass
class FixedJoint(BaseJoint):
    """
    Represents a fixed joint.

    Methods:
        to_xml: Converts the fixed joint to an XML element.

    Properties:
        joint_type: The type of the joint.

    Examples:
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> joint = FixedJoint(
        ...     name="joint1",
        ...     parent="base_link",
        ...     child="link1",
        ...     origin=origin,
        ... )
        >>> joint.to_xml()
        <Element 'joint' at 0x7f8b3c0b4c70>
    """

    def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
        """
        Convert the fixed joint to an XML element.

        Args:
            root: The root element to append the fixed joint to.

        Returns:
            The XML element representing the fixed joint.

        Examples:
            >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
            >>> joint = FixedJoint(
            ...     name="joint1",
            ...     parent="base_link",
            ...     child="link1",
            ...     origin=origin,
            ... )
            >>> joint.to_xml()
            <Element 'joint' at 0x7f8b3c0b4c70>
        """

        joint = super().to_xml(root)
        return joint

    @classmethod
    def from_xml(cls, element: ET.Element) -> "FixedJoint":
        """
        Create a fixed joint from an XML element.

        Args:
            element: The XML element to create the fixed joint from.

        Returns:
            The fixed joint created from the XML element.

        Examples:
            >>> element = ET.Element("joint")
            >>> element.set("name", "joint1")
            >>> element.set("type", "fixed")
            >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
            >>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
            >>> ET.SubElement(element, "parent", link="base_link")
            >>> ET.SubElement(element, "child", link="link1")
            >>> FixedJoint.from_xml(element)

            FixedJoint(name="joint1", parent="base_link", child="link1", origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        """

        name = element.attrib["name"]
        parent = element.find("parent").attrib["link"]
        child = element.find("child").attrib["link"]
        origin = Origin.from_xml(element.find("origin"))
        return cls(name, parent, child, origin)

    @property
    def joint_type(self) -> str:
        """
        The type of the joint.

        Returns:
            The type of the joint: "fixed".
        """

        return JointType.FIXED

joint_type: str property

The type of the joint.

Returns:

Type Description
str

The type of the joint: "fixed".

from_xml(element) classmethod

Create a fixed joint from an XML element.

Parameters:

Name Type Description Default
element Element

The XML element to create the fixed joint from.

 required

Returns:

Type Description
FixedJoint

The fixed joint created from the XML element.

Examples:

>>> element = ET.Element("joint")
>>> element.set("name", "joint1")
>>> element.set("type", "fixed")
>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
>>> ET.SubElement(element, "parent", link="base_link")
>>> ET.SubElement(element, "child", link="link1")
>>> FixedJoint.from_xml(element)

FixedJoint(name="joint1", parent="base_link", child="link1", origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))

Source code in onshape_robotics_toolkit\models\joint.py 
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@classmethod
def from_xml(cls, element: ET.Element) -> "FixedJoint":
    """
    Create a fixed joint from an XML element.

    Args:
        element: The XML element to create the fixed joint from.

    Returns:
        The fixed joint created from the XML element.

    Examples:
        >>> element = ET.Element("joint")
        >>> element.set("name", "joint1")
        >>> element.set("type", "fixed")
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
        >>> ET.SubElement(element, "parent", link="base_link")
        >>> ET.SubElement(element, "child", link="link1")
        >>> FixedJoint.from_xml(element)

        FixedJoint(name="joint1", parent="base_link", child="link1", origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
    """

    name = element.attrib["name"]
    parent = element.find("parent").attrib["link"]
    child = element.find("child").attrib["link"]
    origin = Origin.from_xml(element.find("origin"))
    return cls(name, parent, child, origin)

to_xml(root=None)

Convert the fixed joint to an XML element.

Parameters:

Name Type Description Default
root Optional[Element]

The root element to append the fixed joint to.

 None

Returns:

Type Description
Element

The XML element representing the fixed joint.

Examples:

>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> joint = FixedJoint(
...     name="joint1",
...     parent="base_link",
...     child="link1",
...     origin=origin,
... )
>>> joint.to_xml()
<Element 'joint' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
    """
    Convert the fixed joint to an XML element.

    Args:
        root: The root element to append the fixed joint to.

    Returns:
        The XML element representing the fixed joint.

    Examples:
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> joint = FixedJoint(
        ...     name="joint1",
        ...     parent="base_link",
        ...     child="link1",
        ...     origin=origin,
        ... )
        >>> joint.to_xml()
        <Element 'joint' at 0x7f8b3c0b4c70>
    """

    joint = super().to_xml(root)
    return joint

FloatingJoint dataclass

Bases: BaseJoint

Represents a floating joint.

Attributes:

Name Type Description
mimic JointMimic

The mimic information for the joint.

Methods:

Name Description
to_xml

Converts the floating joint to an XML element.
Properties

joint_type: The type of the joint.

Examples:

>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
>>> joint = FloatingJoint(
...     name="joint1",
...     parent="base_link",
...     child="link1",
...     origin=origin,
...     mimic=mimic,
... )
>>> joint.to_xml()
<Element 'joint' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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@dataclass
class FloatingJoint(BaseJoint):
    """
    Represents a floating joint.

    Attributes:
        mimic (JointMimic): The mimic information for the joint.

    Methods:
        to_xml: Converts the floating joint to an XML element.

    Properties:
        joint_type: The type of the joint.

    Examples:
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        >>> joint = FloatingJoint(
        ...     name="joint1",
        ...     parent="base_link",
        ...     child="link1",
        ...     origin=origin,
        ...     mimic=mimic,
        ... )
        >>> joint.to_xml()
        <Element 'joint' at 0x7f8b3c0b4c70>
    """

    mimic: JointMimic | None = None

    def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
        """
        Convert the floating joint to an XML element.

        Args:
            root: The root element to append the floating joint to.

        Returns:
            The XML element representing the floating joint.

        Examples:
            >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
            >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
            >>> joint = FloatingJoint(
            ...     name="joint1",
            ...     parent="base_link",
            ...     child="link1",
            ...     origin=origin,
            ...     mimic=mimic,
            ... )
            >>> joint.to_xml()
            <Element 'joint' at 0x7f8b3c0b4c70>
        """

        joint = super().to_xml(root)
        if self.mimic is not None:
            self.mimic.to_xml(joint)
        return joint

    @classmethod
    def from_xml(cls, element: ET.Element) -> "FloatingJoint":
        """
        Create a floating joint from an XML element.

        Args:
            element: The XML element to create the floating joint from.

        Returns:
            The floating joint created from the XML element.

        Examples:
            >>> element = ET.Element("joint")
            >>> element.set("name", "joint1")
            >>> element.set("type", "floating")
            >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
            >>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
            >>> ET.SubElement(element, "parent", link="base_link")
            >>> ET.SubElement(element, "child", link="link1")
            >>> mimic = ET.SubElement(element, "mimic", joint="joint1", multiplier="1.0", offset="0.0")
            >>> FloatingJoint.from_xml(element)

            FloatingJoint(
                name="joint1",
                parent="base_link",
                child="link1",
                origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)),
                mimic=JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
            )
        """

        name = element.attrib["name"]
        parent = element.find("parent").attrib["link"]
        child = element.find("child").attrib["link"]
        origin = Origin.from_xml(element.find("origin"))

        mimic_element = element.find("mimic")
        mimic = JointMimic.from_xml(mimic_element) if mimic_element is not None else None

        return cls(name, parent, child, origin, mimic)

    @property
    def joint_type(self) -> str:
        """
        The type of the joint.

        Returns:
            The type of the joint: "floating".
        """

        return JointType.FLOATING

joint_type: str property

The type of the joint.

Returns:

Type Description
str

The type of the joint: "floating".

from_xml(element) classmethod

Create a floating joint from an XML element.

Parameters:

Name Type Description Default
element Element

The XML element to create the floating joint from.

 required

Returns:

Type Description
FloatingJoint

The floating joint created from the XML element.

Examples:

>>> element = ET.Element("joint")
>>> element.set("name", "joint1")
>>> element.set("type", "floating")
>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
>>> ET.SubElement(element, "parent", link="base_link")
>>> ET.SubElement(element, "child", link="link1")
>>> mimic = ET.SubElement(element, "mimic", joint="joint1", multiplier="1.0", offset="0.0")
>>> FloatingJoint.from_xml(element)

FloatingJoint( name="joint1", parent="base_link", child="link1", origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)), mimic=JointMimic(joint="joint1", multiplier=1.0, offset=0.0) )

Source code in onshape_robotics_toolkit\models\joint.py 
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@classmethod
def from_xml(cls, element: ET.Element) -> "FloatingJoint":
    """
    Create a floating joint from an XML element.

    Args:
        element: The XML element to create the floating joint from.

    Returns:
        The floating joint created from the XML element.

    Examples:
        >>> element = ET.Element("joint")
        >>> element.set("name", "joint1")
        >>> element.set("type", "floating")
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
        >>> ET.SubElement(element, "parent", link="base_link")
        >>> ET.SubElement(element, "child", link="link1")
        >>> mimic = ET.SubElement(element, "mimic", joint="joint1", multiplier="1.0", offset="0.0")
        >>> FloatingJoint.from_xml(element)

        FloatingJoint(
            name="joint1",
            parent="base_link",
            child="link1",
            origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)),
            mimic=JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        )
    """

    name = element.attrib["name"]
    parent = element.find("parent").attrib["link"]
    child = element.find("child").attrib["link"]
    origin = Origin.from_xml(element.find("origin"))

    mimic_element = element.find("mimic")
    mimic = JointMimic.from_xml(mimic_element) if mimic_element is not None else None

    return cls(name, parent, child, origin, mimic)

to_xml(root=None)

Convert the floating joint to an XML element.

Parameters:

Name Type Description Default
root Optional[Element]

The root element to append the floating joint to.

 None

Returns:

Type Description
Element

The XML element representing the floating joint.

Examples:

>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
>>> joint = FloatingJoint(
...     name="joint1",
...     parent="base_link",
...     child="link1",
...     origin=origin,
...     mimic=mimic,
... )
>>> joint.to_xml()
<Element 'joint' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
    """
    Convert the floating joint to an XML element.

    Args:
        root: The root element to append the floating joint to.

    Returns:
        The XML element representing the floating joint.

    Examples:
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        >>> joint = FloatingJoint(
        ...     name="joint1",
        ...     parent="base_link",
        ...     child="link1",
        ...     origin=origin,
        ...     mimic=mimic,
        ... )
        >>> joint.to_xml()
        <Element 'joint' at 0x7f8b3c0b4c70>
    """

    joint = super().to_xml(root)
    if self.mimic is not None:
        self.mimic.to_xml(joint)
    return joint

JointDynamics dataclass

Represents the dynamics information for a joint.

Attributes:

Name Type Description
damping float

The damping coefficient of the joint.
friction float

The friction coefficient of the joint.

Methods:

Name Description
to_xml

Converts the dynamics information to an XML element.

Examples:

>>> dynamics = JointDynamics(damping=0.0, friction=0.0)
>>> dynamics.to_xml()
<Element 'dynamics' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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@dataclass
class JointDynamics:
    """
    Represents the dynamics information for a joint.

    Attributes:
        damping (float): The damping coefficient of the joint.
        friction (float): The friction coefficient of the joint.

    Methods:
        to_xml: Converts the dynamics information to an XML element.

    Examples:
        >>> dynamics = JointDynamics(damping=0.0, friction=0.0)
        >>> dynamics.to_xml()
        <Element 'dynamics' at 0x7f8b3c0b4c70>
    """

    damping: float
    friction: float

    def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
        """
        Convert the dynamics information to an XML element.

        Args:
            root: The root element to append the dynamics information to.

        Returns:
            The XML element representing the dynamics information.

        Examples:
            >>> dynamics = JointDynamics(damping=0.0, friction=0.0)
            >>> dynamics.to_xml()
            <Element 'dynamics' at 0x7f8b3c0b4c70>
        """

        joint = ET.Element("dynamics") if root is None else ET.SubElement(root, "dynamics")
        joint.set("damping", format_number(self.damping))
        joint.set("friction", format_number(self.friction))
        return joint

    def from_xml(cls, element: ET.Element) -> "JointDynamics":
        """
        Create joint dynamics from an XML element.

        Args:
            element: The XML element to create the joint dynamics from.

        Returns:
            The joint dynamics created from the XML element.

        Examples:
            >>> element = ET.Element("dynamics")
            >>> element.set("damping", "0.0")
            >>> element.set("friction", "0.0")
            >>> JointDynamics.from_xml(element)
            JointDynamics(damping=0.0, friction=0.0)
        """

        damping = float(element.attrib.get("damping", 0))
        friction = float(element.attrib.get("friction", 0))
        return cls(damping, friction)

from_xml(element)

Create joint dynamics from an XML element.

Parameters:

Name Type Description Default
element Element

The XML element to create the joint dynamics from.

 required

Returns:

Type Description
JointDynamics

The joint dynamics created from the XML element.

Examples:

>>> element = ET.Element("dynamics")
>>> element.set("damping", "0.0")
>>> element.set("friction", "0.0")
>>> JointDynamics.from_xml(element)
JointDynamics(damping=0.0, friction=0.0)
Source code in onshape_robotics_toolkit\models\joint.py 
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def from_xml(cls, element: ET.Element) -> "JointDynamics":
    """
    Create joint dynamics from an XML element.

    Args:
        element: The XML element to create the joint dynamics from.

    Returns:
        The joint dynamics created from the XML element.

    Examples:
        >>> element = ET.Element("dynamics")
        >>> element.set("damping", "0.0")
        >>> element.set("friction", "0.0")
        >>> JointDynamics.from_xml(element)
        JointDynamics(damping=0.0, friction=0.0)
    """

    damping = float(element.attrib.get("damping", 0))
    friction = float(element.attrib.get("friction", 0))
    return cls(damping, friction)

to_xml(root=None)

Convert the dynamics information to an XML element.

Parameters:

Name Type Description Default
root Optional[Element]

The root element to append the dynamics information to.

 None

Returns:

Type Description
Element

The XML element representing the dynamics information.

Examples:

>>> dynamics = JointDynamics(damping=0.0, friction=0.0)
>>> dynamics.to_xml()
<Element 'dynamics' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
    """
    Convert the dynamics information to an XML element.

    Args:
        root: The root element to append the dynamics information to.

    Returns:
        The XML element representing the dynamics information.

    Examples:
        >>> dynamics = JointDynamics(damping=0.0, friction=0.0)
        >>> dynamics.to_xml()
        <Element 'dynamics' at 0x7f8b3c0b4c70>
    """

    joint = ET.Element("dynamics") if root is None else ET.SubElement(root, "dynamics")
    joint.set("damping", format_number(self.damping))
    joint.set("friction", format_number(self.friction))
    return joint

JointLimits dataclass

Represents the limits of a joint.

Attributes:

Name Type Description
effort float

The effort limit of the joint.
velocity float

The velocity limit of the joint.
lower float

The lower limit of the joint.
upper float

The upper limit of the joint.

Methods:

Name Description
to_xml

Converts the joint limits to an XML element.

Examples:

>>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
>>> limits.to_xml()
<Element 'limit' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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@dataclass
class JointLimits:
    """
    Represents the limits of a joint.

    Attributes:
        effort (float): The effort limit of the joint.
        velocity (float): The velocity limit of the joint.
        lower (float): The lower limit of the joint.
        upper (float): The upper limit of the joint.

    Methods:
        to_xml: Converts the joint limits to an XML element.

    Examples:
        >>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
        >>> limits.to_xml()
        <Element 'limit' at 0x7f8b3c0b4c70>
    """

    effort: float
    velocity: float
    lower: float
    upper: float

    def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
        """
        Convert the joint limits to an XML element.

        Args:
            root: The root element to append the joint limits to.

        Returns:
            The XML element representing the joint limits.

        Examples:
            >>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
            >>> limits.to_xml()
            <Element 'limit' at 0x7f8b3c0b4c70>
        """

        limit = ET.Element("limit") if root is None else ET.SubElement(root, "limit")
        limit.set("effort", format_number(self.effort))
        limit.set("velocity", format_number(self.velocity))
        limit.set("lower", format_number(self.lower))
        limit.set("upper", format_number(self.upper))
        return limit

to_xml(root=None)

Convert the joint limits to an XML element.

Parameters:

Name Type Description Default
root Optional[Element]

The root element to append the joint limits to.

 None

Returns:

Type Description
Element

The XML element representing the joint limits.

Examples:

>>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
>>> limits.to_xml()
<Element 'limit' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
    """
    Convert the joint limits to an XML element.

    Args:
        root: The root element to append the joint limits to.

    Returns:
        The XML element representing the joint limits.

    Examples:
        >>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
        >>> limits.to_xml()
        <Element 'limit' at 0x7f8b3c0b4c70>
    """

    limit = ET.Element("limit") if root is None else ET.SubElement(root, "limit")
    limit.set("effort", format_number(self.effort))
    limit.set("velocity", format_number(self.velocity))
    limit.set("lower", format_number(self.lower))
    limit.set("upper", format_number(self.upper))
    return limit

JointMimic dataclass

Represents the mimic information for a joint.

Attributes:

Name Type Description
joint str

The joint to mimic.
multiplier float

The multiplier for the mimic.
offset float

The offset for the mimic.

Methods:

Name Description
to_xml

Converts the mimic information to an XML element.

Examples:

>>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
>>> mimic.to_xml()
<Element 'mimic' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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@dataclass
class JointMimic:
    """
    Represents the mimic information for a joint.

    Attributes:
        joint (str): The joint to mimic.
        multiplier (float): The multiplier for the mimic.
        offset (float): The offset for the mimic.

    Methods:
        to_xml: Converts the mimic information to an XML element.

    Examples:
        >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        >>> mimic.to_xml()
        <Element 'mimic' at 0x7f8b3c0b4c70>
    """

    joint: str
    multiplier: float = 1.0
    offset: float = 0.0

    def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
        """
        Convert the mimic information to an XML element.

        Args:
            root: The root element to append the mimic information to.

        Returns:
            The XML element representing the mimic information.

        Examples:
            >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
            >>> mimic.to_xml()
            <Element 'mimic' at 0x7f8b3c0b4c70>
        """

        mimic = ET.Element("mimic") if root is None else ET.SubElement(root, "mimic")
        mimic.set("joint", self.joint)
        mimic.set("multiplier", format_number(self.multiplier))
        mimic.set("offset", format_number(self.offset))
        return mimic

    @classmethod
    def from_xml(cls, element: ET.Element) -> "JointMimic":
        """
        Create a joint mimic from an XML element.

        Args:
            element: The XML element to create the joint mimic from.

        Returns:
            The joint mimic created from the XML element.

        Examples:
            >>> element = ET.Element("mimic")
            >>> element.set("joint", "joint1")
            >>> element.set("multiplier", "1.0")
            >>> element.set("offset", "0.0")
            >>> JointMimic.from_xml(element)
            JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        """

        joint = element.attrib["joint"]
        multiplier = float(element.attrib.get("multiplier", 1.0))
        offset = float(element.attrib.get("offset", 0.0))
        return cls(joint, multiplier, offset)

from_xml(element) classmethod

Create a joint mimic from an XML element.

Parameters:

Name Type Description Default
element Element

The XML element to create the joint mimic from.

 required

Returns:

Type Description
JointMimic

The joint mimic created from the XML element.

Examples:

>>> element = ET.Element("mimic")
>>> element.set("joint", "joint1")
>>> element.set("multiplier", "1.0")
>>> element.set("offset", "0.0")
>>> JointMimic.from_xml(element)
JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
Source code in onshape_robotics_toolkit\models\joint.py 
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@classmethod
def from_xml(cls, element: ET.Element) -> "JointMimic":
    """
    Create a joint mimic from an XML element.

    Args:
        element: The XML element to create the joint mimic from.

    Returns:
        The joint mimic created from the XML element.

    Examples:
        >>> element = ET.Element("mimic")
        >>> element.set("joint", "joint1")
        >>> element.set("multiplier", "1.0")
        >>> element.set("offset", "0.0")
        >>> JointMimic.from_xml(element)
        JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
    """

    joint = element.attrib["joint"]
    multiplier = float(element.attrib.get("multiplier", 1.0))
    offset = float(element.attrib.get("offset", 0.0))
    return cls(joint, multiplier, offset)

to_xml(root=None)

Convert the mimic information to an XML element.

Parameters:

Name Type Description Default
root Optional[Element]

The root element to append the mimic information to.

 None

Returns:

Type Description
Element

The XML element representing the mimic information.

Examples:

>>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
>>> mimic.to_xml()
<Element 'mimic' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
    """
    Convert the mimic information to an XML element.

    Args:
        root: The root element to append the mimic information to.

    Returns:
        The XML element representing the mimic information.

    Examples:
        >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        >>> mimic.to_xml()
        <Element 'mimic' at 0x7f8b3c0b4c70>
    """

    mimic = ET.Element("mimic") if root is None else ET.SubElement(root, "mimic")
    mimic.set("joint", self.joint)
    mimic.set("multiplier", format_number(self.multiplier))
    mimic.set("offset", format_number(self.offset))
    return mimic

JointType

Bases: str, Enum

Enumerates the possible joint types in Onshape

Attributes:

Name Type Description
REVOLUTE str

Revolute joint
CONTINUOUS str

Continuous joint
PRISMATIC str

Prismatic joint
FIXED str

Fixed joint
FLOATING str

Floating joint
PLANAR str

Planar joint

Examples:

>>> JointType.REVOLUTE
'revolute'
>>> JointType.CONTINUOUS
'continuous'
Source code in onshape_robotics_toolkit\models\joint.py 
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class JointType(str, Enum):
    """
    Enumerates the possible joint types in Onshape

    Attributes:
        REVOLUTE (str): Revolute joint
        CONTINUOUS (str): Continuous joint
        PRISMATIC (str): Prismatic joint
        FIXED (str): Fixed joint
        FLOATING (str): Floating joint
        PLANAR (str): Planar joint

    Examples:
        >>> JointType.REVOLUTE
        'revolute'
        >>> JointType.CONTINUOUS
        'continuous'
    """

    REVOLUTE = "revolute"
    CONTINUOUS = "continuous"
    PRISMATIC = "prismatic"
    FIXED = "fixed"
    FLOATING = "floating"
    PLANAR = "planar"

PlanarJoint dataclass

Bases: BaseJoint

Represents a planar joint.

Attributes:

Name Type Description
limits JointLimits

The limits of the joint.
axis Axis

The axis of the joint.
mimic JointMimic

The mimic information for the joint.

Methods:

Name Description
to_xml

Converts the planar joint to an XML element.
Properties

joint_type: The type of the joint.

Examples:

>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
>>> axis = Axis(xyz=(0, 0, 1))
>>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
>>> joint = PlanarJoint(
...     name="joint1",
...     parent="base_link",
...     child="link1",
...     origin=origin,
...     limits=limits,
...     axis=axis,
...     mimic=mimic,
... )
>>> joint.to_xml()
<Element 'joint' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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@dataclass
class PlanarJoint(BaseJoint):
    """
    Represents a planar joint.

    Attributes:
        limits (JointLimits): The limits of the joint.
        axis (Axis): The axis of the joint.
        mimic (JointMimic): The mimic information for the joint.

    Methods:
        to_xml: Converts the planar joint to an XML element.

    Properties:
        joint_type: The type of the joint.

    Examples:
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
        >>> axis = Axis(xyz=(0, 0, 1))
        >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        >>> joint = PlanarJoint(
        ...     name="joint1",
        ...     parent="base_link",
        ...     child="link1",
        ...     origin=origin,
        ...     limits=limits,
        ...     axis=axis,
        ...     mimic=mimic,
        ... )
        >>> joint.to_xml()
        <Element 'joint' at 0x7f8b3c0b4c70>
    """

    limits: JointLimits
    axis: Axis
    mimic: JointMimic | None = None

    def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
        """
        Convert the planar joint to an XML element.

        Args:
            root: The root element to append the planar joint to.

        Returns:
            The XML element representing the planar joint.

        Examples:
            >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
            >>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
            >>> axis = Axis(xyz=(0, 0, 1))
            >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
            >>> joint = PlanarJoint(
            ...     name="joint1",
            ...     parent="base_link",
            ...     child="link1",
            ...     origin=origin,
            ...     limits=limits,
            ...     axis=axis,
            ...     mimic=mimic,
            ... )
            >>> joint.to_xml()
            <Element 'joint' at 0x7f8b3c0b4c70>
        """

        joint = super().to_xml(root)
        self.axis.to_xml(joint)
        if self.limits is not None:
            self.limits.to_xml(joint)
        if self.mimic is not None:
            self.mimic.to_xml(joint)
        return joint

    @classmethod
    def from_xml(cls, element: ET.Element) -> "PlanarJoint":
        """
        Create a planar joint from an XML element.

        Args:
            element: The XML element to create the planar joint from.

        Returns:
            The planar joint created from the XML element.

        Examples:
            >>> element = ET.Element("joint")
            >>> element.set("name", "joint1")
            >>> element.set("type", "planar")
            >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
            >>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
            >>> ET.SubElement(element, "parent", link="base_link")
            >>> ET.SubElement(element, "child", link="link1")
            >>> limits = ET.SubElement(element, "limit", effort="10.0", velocity="1.0", lower="-1.0", upper="1.0")
            >>> axis = ET.SubElement(element, "axis", xyz="0 0 1")
            >>> mimic = ET.SubElement(element, "mimic", joint="joint1", multiplier="1.0", offset="0.0")
            >>> PlanarJoint.from_xml(element)

            PlanarJoint(
                name="joint1",
                parent="base_link",
                child="link1",
                origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)),
                limits=JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0),
                axis=Axis(xyz=(0, 0, 1)),
                mimic=JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
            )
        """

        name = element.attrib["name"]
        parent = element.find("parent").attrib["link"]
        child = element.find("child").attrib["link"]
        origin = Origin.from_xml(element.find("origin"))

        limit_element = element.find("limit")
        if limit_element is not None:
            limits = JointLimits(
                effort=float(limit_element.attrib.get("effort", 0)),
                velocity=float(limit_element.attrib.get("velocity", 0)),
                lower=float(limit_element.attrib.get("lower", 0)),
                upper=float(limit_element.attrib.get("upper", 0)),
            )
        else:
            limits = None

        axis = Axis.from_xml(element.find("axis"))

        mimic_element = element.find("mimic")
        mimic = JointMimic.from_xml(mimic_element) if mimic_element is not None else None

        return cls(name, parent, child, origin, limits, axis, mimic)

    @property
    def joint_type(self) -> str:
        """
        The type of the joint.

        Returns:
            The type of the joint: "planar".
        """

        return JointType.PLANAR

joint_type: str property

The type of the joint.

Returns:

Type Description
str

The type of the joint: "planar".

from_xml(element) classmethod

Create a planar joint from an XML element.

Parameters:

Name Type Description Default
element Element

The XML element to create the planar joint from.

 required

Returns:

Type Description
PlanarJoint

The planar joint created from the XML element.

Examples:

>>> element = ET.Element("joint")
>>> element.set("name", "joint1")
>>> element.set("type", "planar")
>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
>>> ET.SubElement(element, "parent", link="base_link")
>>> ET.SubElement(element, "child", link="link1")
>>> limits = ET.SubElement(element, "limit", effort="10.0", velocity="1.0", lower="-1.0", upper="1.0")
>>> axis = ET.SubElement(element, "axis", xyz="0 0 1")
>>> mimic = ET.SubElement(element, "mimic", joint="joint1", multiplier="1.0", offset="0.0")
>>> PlanarJoint.from_xml(element)

PlanarJoint( name="joint1", parent="base_link", child="link1", origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)), limits=JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0), axis=Axis(xyz=(0, 0, 1)), mimic=JointMimic(joint="joint1", multiplier=1.0, offset=0.0) )

Source code in onshape_robotics_toolkit\models\joint.py 
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@classmethod
def from_xml(cls, element: ET.Element) -> "PlanarJoint":
    """
    Create a planar joint from an XML element.

    Args:
        element: The XML element to create the planar joint from.

    Returns:
        The planar joint created from the XML element.

    Examples:
        >>> element = ET.Element("joint")
        >>> element.set("name", "joint1")
        >>> element.set("type", "planar")
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
        >>> ET.SubElement(element, "parent", link="base_link")
        >>> ET.SubElement(element, "child", link="link1")
        >>> limits = ET.SubElement(element, "limit", effort="10.0", velocity="1.0", lower="-1.0", upper="1.0")
        >>> axis = ET.SubElement(element, "axis", xyz="0 0 1")
        >>> mimic = ET.SubElement(element, "mimic", joint="joint1", multiplier="1.0", offset="0.0")
        >>> PlanarJoint.from_xml(element)

        PlanarJoint(
            name="joint1",
            parent="base_link",
            child="link1",
            origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)),
            limits=JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0),
            axis=Axis(xyz=(0, 0, 1)),
            mimic=JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        )
    """

    name = element.attrib["name"]
    parent = element.find("parent").attrib["link"]
    child = element.find("child").attrib["link"]
    origin = Origin.from_xml(element.find("origin"))

    limit_element = element.find("limit")
    if limit_element is not None:
        limits = JointLimits(
            effort=float(limit_element.attrib.get("effort", 0)),
            velocity=float(limit_element.attrib.get("velocity", 0)),
            lower=float(limit_element.attrib.get("lower", 0)),
            upper=float(limit_element.attrib.get("upper", 0)),
        )
    else:
        limits = None

    axis = Axis.from_xml(element.find("axis"))

    mimic_element = element.find("mimic")
    mimic = JointMimic.from_xml(mimic_element) if mimic_element is not None else None

    return cls(name, parent, child, origin, limits, axis, mimic)

to_xml(root=None)

Convert the planar joint to an XML element.

Parameters:

Name Type Description Default
root Optional[Element]

The root element to append the planar joint to.

 None

Returns:

Type Description
Element

The XML element representing the planar joint.

Examples:

>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
>>> axis = Axis(xyz=(0, 0, 1))
>>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
>>> joint = PlanarJoint(
...     name="joint1",
...     parent="base_link",
...     child="link1",
...     origin=origin,
...     limits=limits,
...     axis=axis,
...     mimic=mimic,
... )
>>> joint.to_xml()
<Element 'joint' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
    """
    Convert the planar joint to an XML element.

    Args:
        root: The root element to append the planar joint to.

    Returns:
        The XML element representing the planar joint.

    Examples:
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
        >>> axis = Axis(xyz=(0, 0, 1))
        >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        >>> joint = PlanarJoint(
        ...     name="joint1",
        ...     parent="base_link",
        ...     child="link1",
        ...     origin=origin,
        ...     limits=limits,
        ...     axis=axis,
        ...     mimic=mimic,
        ... )
        >>> joint.to_xml()
        <Element 'joint' at 0x7f8b3c0b4c70>
    """

    joint = super().to_xml(root)
    self.axis.to_xml(joint)
    if self.limits is not None:
        self.limits.to_xml(joint)
    if self.mimic is not None:
        self.mimic.to_xml(joint)
    return joint

PrismaticJoint dataclass

Bases: BaseJoint

Represents a prismatic joint.

Attributes:

Name Type Description
limits JointLimits

The limits of the joint.
axis Axis

The axis of the joint.
dynamics JointDynamics

The dynamics of the joint.
mimic JointMimic

The mimic information for the joint.

Methods:

Name Description
to_xml

Converts the prismatic joint to an XML element.
Properties

joint_type: The type of the joint.

Examples:

>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
>>> axis = Axis(xyz=(0, 0, 1))
>>> dynamics = JointDynamics(damping=0.0, friction=0.0)
>>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
>>> joint = PrismaticJoint(
...     name="joint1",
...     parent="base_link",
...     child="link1",
...     origin=origin,
...     limits=limits,
...     axis=axis,
...     dynamics=dynamics,
...     mimic=mimic,
... )
>>> joint.to_xml()
<Element 'joint' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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@dataclass
class PrismaticJoint(BaseJoint):
    """
    Represents a prismatic joint.

    Attributes:
        limits (JointLimits): The limits of the joint.
        axis (Axis): The axis of the joint.
        dynamics (JointDynamics): The dynamics of the joint.
        mimic (JointMimic): The mimic information for the joint.

    Methods:
        to_xml: Converts the prismatic joint to an XML element.

    Properties:
        joint_type: The type of the joint.

    Examples:
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
        >>> axis = Axis(xyz=(0, 0, 1))
        >>> dynamics = JointDynamics(damping=0.0, friction=0.0)
        >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        >>> joint = PrismaticJoint(
        ...     name="joint1",
        ...     parent="base_link",
        ...     child="link1",
        ...     origin=origin,
        ...     limits=limits,
        ...     axis=axis,
        ...     dynamics=dynamics,
        ...     mimic=mimic,
        ... )
        >>> joint.to_xml()
        <Element 'joint' at 0x7f8b3c0b4c70>
    """

    limits: JointLimits
    axis: Axis
    dynamics: JointDynamics | None = None
    mimic: JointMimic | None = None

    def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
        """
        Convert the prismatic joint to an XML element.

        Args:
            root: The root element to append the prismatic joint to.

        Returns:
            The XML element representing the prismatic joint

        Examples:
            >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
            >>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
            >>> axis = Axis(xyz=(0, 0, 1))
            >>> dynamics = JointDynamics(damping=0.0, friction=0.0)
            >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
            >>> joint = PrismaticJoint(
            ...     name="joint1",
            ...     parent="base_link",
            ...     child="link1",
            ...     origin=origin,
            ...     limits=limits,
            ...     axis=axis,
            ...     dynamics=dynamics,
            ...     mimic=mimic,
            ... )
            >>> joint.to_xml()
            <Element 'joint' at 0x7f8b3c0b4c70>
        """

        joint = super().to_xml(root)
        self.axis.to_xml(joint)
        if self.limits is not None:
            self.limits.to_xml(joint)
        if self.dynamics is not None:
            self.dynamics.to_xml(joint)
        if self.mimic is not None:
            self.mimic.to_xml(joint)
        return joint

    @classmethod
    def from_xml(cls, element: ET.Element) -> "PrismaticJoint":
        """
        Create a prismatic joint from an XML element.

        Args:
            element: The XML element to create the prismatic joint from.

        Returns:
            The prismatic joint created from the XML element.

        Examples:
            >>> element = ET.Element("joint")
            >>> element.set("name", "joint1")
            >>> element.set("type", "prismatic")
            >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
            >>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
            >>> ET.SubElement(element, "parent", link="base_link")
            >>> ET.SubElement(element, "child", link="link1")
            >>> limits = ET.SubElement(element, "limit", effort="10.0", velocity="1.0", lower="-1.0", upper="1.0")
            >>> axis = ET.SubElement(element, "axis", xyz="0 0 1")
            >>> dynamics = ET.SubElement(element, "dynamics", damping="0.0", friction="0.0")
            >>> mimic = ET.SubElement(element, "mimic", joint="joint1", multiplier="1.0", offset="0.0")
            >>> PrismaticJoint.from_xml(element)

            PrismaticJoint(
                name="joint1",
                parent="base_link",
                child="link1",
                origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)),
                limits=JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0),
                axis=Axis(xyz=(0, 0, 1)),
                dynamics=JointDynamics(damping=0.0, friction=0.0),
                mimic=JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
            )
        """

        name = element.attrib["name"]
        parent = element.find("parent").attrib["link"]
        child = element.find("child").attrib["link"]
        origin = Origin.from_xml(element.find("origin"))

        limit_element = element.find("limit")
        if limit_element is not None:
            limits = JointLimits(
                effort=float(limit_element.attrib.get("effort", 0)),
                velocity=float(limit_element.attrib.get("velocity", 0)),
                lower=float(limit_element.attrib.get("lower", 0)),
                upper=float(limit_element.attrib.get("upper", 0)),
            )
        else:
            limits = None

        axis = Axis.from_xml(element.find("axis"))

        dynamics_element = element.find("dynamics")
        if dynamics_element is not None:
            dynamics = JointDynamics(
                damping=float(dynamics_element.attrib.get("damping", 0)),
                friction=float(dynamics_element.attrib.get("friction", 0)),
            )
        else:
            dynamics = None

        mimic_element = element.find("mimic")
        mimic = JointMimic.from_xml(mimic_element) if mimic_element is not None else None

        return cls(name, parent, child, origin, limits, axis, dynamics, mimic)

    @property
    def joint_type(self) -> str:
        """
        The type of the joint.

        Returns:
            The type of the joint: "prismatic".
        """

        return JointType.PRISMATIC

joint_type: str property

The type of the joint.

Returns:

Type Description
str

The type of the joint: "prismatic".

from_xml(element) classmethod

Create a prismatic joint from an XML element.

Parameters:

Name Type Description Default
element Element

The XML element to create the prismatic joint from.

 required

Returns:

Type Description
PrismaticJoint

The prismatic joint created from the XML element.

Examples:

>>> element = ET.Element("joint")
>>> element.set("name", "joint1")
>>> element.set("type", "prismatic")
>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
>>> ET.SubElement(element, "parent", link="base_link")
>>> ET.SubElement(element, "child", link="link1")
>>> limits = ET.SubElement(element, "limit", effort="10.0", velocity="1.0", lower="-1.0", upper="1.0")
>>> axis = ET.SubElement(element, "axis", xyz="0 0 1")
>>> dynamics = ET.SubElement(element, "dynamics", damping="0.0", friction="0.0")
>>> mimic = ET.SubElement(element, "mimic", joint="joint1", multiplier="1.0", offset="0.0")
>>> PrismaticJoint.from_xml(element)

PrismaticJoint( name="joint1", parent="base_link", child="link1", origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)), limits=JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0), axis=Axis(xyz=(0, 0, 1)), dynamics=JointDynamics(damping=0.0, friction=0.0), mimic=JointMimic(joint="joint1", multiplier=1.0, offset=0.0) )

Source code in onshape_robotics_toolkit\models\joint.py 
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@classmethod
def from_xml(cls, element: ET.Element) -> "PrismaticJoint":
    """
    Create a prismatic joint from an XML element.

    Args:
        element: The XML element to create the prismatic joint from.

    Returns:
        The prismatic joint created from the XML element.

    Examples:
        >>> element = ET.Element("joint")
        >>> element.set("name", "joint1")
        >>> element.set("type", "prismatic")
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
        >>> ET.SubElement(element, "parent", link="base_link")
        >>> ET.SubElement(element, "child", link="link1")
        >>> limits = ET.SubElement(element, "limit", effort="10.0", velocity="1.0", lower="-1.0", upper="1.0")
        >>> axis = ET.SubElement(element, "axis", xyz="0 0 1")
        >>> dynamics = ET.SubElement(element, "dynamics", damping="0.0", friction="0.0")
        >>> mimic = ET.SubElement(element, "mimic", joint="joint1", multiplier="1.0", offset="0.0")
        >>> PrismaticJoint.from_xml(element)

        PrismaticJoint(
            name="joint1",
            parent="base_link",
            child="link1",
            origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)),
            limits=JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0),
            axis=Axis(xyz=(0, 0, 1)),
            dynamics=JointDynamics(damping=0.0, friction=0.0),
            mimic=JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        )
    """

    name = element.attrib["name"]
    parent = element.find("parent").attrib["link"]
    child = element.find("child").attrib["link"]
    origin = Origin.from_xml(element.find("origin"))

    limit_element = element.find("limit")
    if limit_element is not None:
        limits = JointLimits(
            effort=float(limit_element.attrib.get("effort", 0)),
            velocity=float(limit_element.attrib.get("velocity", 0)),
            lower=float(limit_element.attrib.get("lower", 0)),
            upper=float(limit_element.attrib.get("upper", 0)),
        )
    else:
        limits = None

    axis = Axis.from_xml(element.find("axis"))

    dynamics_element = element.find("dynamics")
    if dynamics_element is not None:
        dynamics = JointDynamics(
            damping=float(dynamics_element.attrib.get("damping", 0)),
            friction=float(dynamics_element.attrib.get("friction", 0)),
        )
    else:
        dynamics = None

    mimic_element = element.find("mimic")
    mimic = JointMimic.from_xml(mimic_element) if mimic_element is not None else None

    return cls(name, parent, child, origin, limits, axis, dynamics, mimic)

to_xml(root=None)

Convert the prismatic joint to an XML element.

Parameters:

Name Type Description Default
root Optional[Element]

The root element to append the prismatic joint to.

 None

Returns:

Type Description
Element

The XML element representing the prismatic joint

Examples:

>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
>>> axis = Axis(xyz=(0, 0, 1))
>>> dynamics = JointDynamics(damping=0.0, friction=0.0)
>>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
>>> joint = PrismaticJoint(
...     name="joint1",
...     parent="base_link",
...     child="link1",
...     origin=origin,
...     limits=limits,
...     axis=axis,
...     dynamics=dynamics,
...     mimic=mimic,
... )
>>> joint.to_xml()
<Element 'joint' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
    """
    Convert the prismatic joint to an XML element.

    Args:
        root: The root element to append the prismatic joint to.

    Returns:
        The XML element representing the prismatic joint

    Examples:
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
        >>> axis = Axis(xyz=(0, 0, 1))
        >>> dynamics = JointDynamics(damping=0.0, friction=0.0)
        >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        >>> joint = PrismaticJoint(
        ...     name="joint1",
        ...     parent="base_link",
        ...     child="link1",
        ...     origin=origin,
        ...     limits=limits,
        ...     axis=axis,
        ...     dynamics=dynamics,
        ...     mimic=mimic,
        ... )
        >>> joint.to_xml()
        <Element 'joint' at 0x7f8b3c0b4c70>
    """

    joint = super().to_xml(root)
    self.axis.to_xml(joint)
    if self.limits is not None:
        self.limits.to_xml(joint)
    if self.dynamics is not None:
        self.dynamics.to_xml(joint)
    if self.mimic is not None:
        self.mimic.to_xml(joint)
    return joint

RevoluteJoint dataclass

Bases: BaseJoint

Represents a revolute joint.

Attributes:

Name Type Description
limits JointLimits

The limits of the joint.
axis Axis

The axis of the joint.
dynamics JointDynamics

The dynamics of the joint.
mimic JointMimic

The mimic information for the joint.

Methods:

Name Description
to_xml

Converts the revolute joint to an XML element.
Properties

joint_type: The type of the joint.

Examples:

>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
>>> axis = Axis(xyz=(0, 0, 1))
>>> dynamics = JointDynamics(damping=0.0, friction=0.0)
>>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
>>> joint = RevoluteJoint(
...     name="joint1",
...     parent="base_link",
...     child="link1",
...     origin=origin,
...     limits=limits,
...     axis=axis,
...     dynamics=dynamics,
...     mimic=mimic,
... )
>>> joint.to_xml()
<Element 'joint' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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@dataclass
class RevoluteJoint(BaseJoint):
    """
    Represents a revolute joint.

    Attributes:
        limits (JointLimits): The limits of the joint.
        axis (Axis): The axis of the joint.
        dynamics (JointDynamics): The dynamics of the joint.
        mimic (JointMimic): The mimic information for the joint.

    Methods:
        to_xml: Converts the revolute joint to an XML element.

    Properties:
        joint_type: The type of the joint.

    Examples:
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
        >>> axis = Axis(xyz=(0, 0, 1))
        >>> dynamics = JointDynamics(damping=0.0, friction=0.0)
        >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        >>> joint = RevoluteJoint(
        ...     name="joint1",
        ...     parent="base_link",
        ...     child="link1",
        ...     origin=origin,
        ...     limits=limits,
        ...     axis=axis,
        ...     dynamics=dynamics,
        ...     mimic=mimic,
        ... )
        >>> joint.to_xml()
        <Element 'joint' at 0x7f8b3c0b4c70>
    """

    limits: JointLimits
    axis: Axis
    dynamics: JointDynamics | None = None
    mimic: JointMimic | None = None

    def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
        """
        Convert the revolute joint to an XML element.

        Args:
            root: The root element to append the revolute joint to.

        Returns:
            The XML element representing the revolute joint.

        Examples:
            >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
            >>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
            >>> axis = Axis(xyz=(0, 0, 1))
            >>> dynamics = JointDynamics(damping=0.0, friction=0.0)
            >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
            >>> joint = RevoluteJoint(
            ...     name="joint1",
            ...     parent="base_link",
            ...     child="link1",
            ...     origin=origin,
            ...     limits=limits,
            ...     axis=axis,
            ...     dynamics=dynamics,
            ...     mimic=mimic,
            ... )
            >>> joint.to_xml()
            <Element 'joint' at 0x7f8b3c0b4c70>
        """

        joint = super().to_xml(root)
        self.axis.to_xml(joint)
        if self.limits is not None:
            self.limits.to_xml(joint)
        if self.dynamics is not None:
            self.dynamics.to_xml(joint)
        if self.mimic is not None:
            self.mimic.to_xml(joint)
        return joint

    def to_mjcf(self, root: ET.Element) -> None:
        """
        Converts the revolute joint to an XML element and appends it to the given root element.

        Args:
            root: The root element to append the revolute joint to.
        """

        joint = ET.SubElement(root, "joint", name=self.name, type=MJCF_JOINT_MAP[self.joint_type])
        joint.set("pos", " ".join(map(str, self.origin.xyz)))

        self.axis.to_mjcf(joint)
        joint.set("range", " ".join(map(str, [self.limits.lower, self.limits.upper])))

        if self.dynamics:
            joint.set("damping", str(self.dynamics.damping))
            joint.set("frictionloss", str(self.dynamics.friction))

    @classmethod
    def from_xml(cls, element: ET.Element) -> "RevoluteJoint":
        """
        Create a revolute joint from an XML element.

        Args:
            element: The XML element to create the revolute joint from.

        Returns:
            The revolute joint created from the XML element.

        Examples:
            >>> element = ET.Element("joint")
            >>> element.set("name", "joint1")
            >>> element.set("type", "revolute")
            >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
            >>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
            >>> ET.SubElement(element, "parent", link="base_link")
            >>> ET.SubElement(element, "child", link="link1")
            >>> limits = ET.SubElement(element, "limit", effort="10.0", velocity="1.0", lower="-1.0", upper="1.0")
            >>> axis = ET.SubElement(element, "axis", xyz="0 0 1")
            >>> dynamics = ET.SubElement(element, "dynamics", damping="0.0", friction="0.0")
            >>> mimic = ET.SubElement(element, "mimic", joint="joint1", multiplier="1.0", offset="0.0")
            >>> RevoluteJoint.from_xml(element)

            RevoluteJoint(
                name="joint1",
                parent="base_link",
                child="link1",
                origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)),
                limits=JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0),
                axis=Axis(xyz=(0, 0, 1)),
                dynamics=JointDynamics(damping=0.0, friction=0.0),
                mimic=JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
            )
        """

        name = element.attrib["name"]
        parent = element.find("parent").attrib["link"]
        child = element.find("child").attrib["link"]
        origin = Origin.from_xml(element.find("origin"))
        # Handle limits
        limit_element = element.find("limit")
        if limit_element is not None:
            limits = JointLimits(
                effort=float(limit_element.attrib.get("effort", 0)),
                velocity=float(limit_element.attrib.get("velocity", 0)),
                lower=float(limit_element.attrib.get("lower", 0)),
                upper=float(limit_element.attrib.get("upper", 0)),
            )
        else:
            limits = None

        # Handle axis
        axis = Axis.from_xml(element.find("axis"))

        # Handle dynamics
        dynamics_element = element.find("dynamics")
        if dynamics_element is not None:
            dynamics = JointDynamics(
                damping=float(dynamics_element.attrib.get("damping", 0)),
                friction=float(dynamics_element.attrib.get("friction", 0)),
            )
        else:
            dynamics = None

        # Handle mimic
        mimic_element = element.find("mimic")
        mimic = JointMimic.from_xml(mimic_element) if mimic_element is not None else None

        return cls(name, parent, child, origin, limits, axis, dynamics, mimic)

    @property
    def joint_type(self) -> str:
        """
        The type of the joint.

        Returns:
            The type of the joint: "revolute".
        """

        return JointType.REVOLUTE

joint_type: str property

The type of the joint.

Returns:

Type Description
str

The type of the joint: "revolute".

from_xml(element) classmethod

Create a revolute joint from an XML element.

Parameters:

Name Type Description Default
element Element

The XML element to create the revolute joint from.

 required

Returns:

Type Description
RevoluteJoint

The revolute joint created from the XML element.

Examples:

>>> element = ET.Element("joint")
>>> element.set("name", "joint1")
>>> element.set("type", "revolute")
>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
>>> ET.SubElement(element, "parent", link="base_link")
>>> ET.SubElement(element, "child", link="link1")
>>> limits = ET.SubElement(element, "limit", effort="10.0", velocity="1.0", lower="-1.0", upper="1.0")
>>> axis = ET.SubElement(element, "axis", xyz="0 0 1")
>>> dynamics = ET.SubElement(element, "dynamics", damping="0.0", friction="0.0")
>>> mimic = ET.SubElement(element, "mimic", joint="joint1", multiplier="1.0", offset="0.0")
>>> RevoluteJoint.from_xml(element)

RevoluteJoint( name="joint1", parent="base_link", child="link1", origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)), limits=JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0), axis=Axis(xyz=(0, 0, 1)), dynamics=JointDynamics(damping=0.0, friction=0.0), mimic=JointMimic(joint="joint1", multiplier=1.0, offset=0.0) )

Source code in onshape_robotics_toolkit\models\joint.py 
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@classmethod
def from_xml(cls, element: ET.Element) -> "RevoluteJoint":
    """
    Create a revolute joint from an XML element.

    Args:
        element: The XML element to create the revolute joint from.

    Returns:
        The revolute joint created from the XML element.

    Examples:
        >>> element = ET.Element("joint")
        >>> element.set("name", "joint1")
        >>> element.set("type", "revolute")
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> ET.SubElement(element, "origin", xyz="0 0 0", rpy="0 0 0")
        >>> ET.SubElement(element, "parent", link="base_link")
        >>> ET.SubElement(element, "child", link="link1")
        >>> limits = ET.SubElement(element, "limit", effort="10.0", velocity="1.0", lower="-1.0", upper="1.0")
        >>> axis = ET.SubElement(element, "axis", xyz="0 0 1")
        >>> dynamics = ET.SubElement(element, "dynamics", damping="0.0", friction="0.0")
        >>> mimic = ET.SubElement(element, "mimic", joint="joint1", multiplier="1.0", offset="0.0")
        >>> RevoluteJoint.from_xml(element)

        RevoluteJoint(
            name="joint1",
            parent="base_link",
            child="link1",
            origin=Origin(xyz=(0, 0, 0), rpy=(0, 0, 0)),
            limits=JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0),
            axis=Axis(xyz=(0, 0, 1)),
            dynamics=JointDynamics(damping=0.0, friction=0.0),
            mimic=JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        )
    """

    name = element.attrib["name"]
    parent = element.find("parent").attrib["link"]
    child = element.find("child").attrib["link"]
    origin = Origin.from_xml(element.find("origin"))
    # Handle limits
    limit_element = element.find("limit")
    if limit_element is not None:
        limits = JointLimits(
            effort=float(limit_element.attrib.get("effort", 0)),
            velocity=float(limit_element.attrib.get("velocity", 0)),
            lower=float(limit_element.attrib.get("lower", 0)),
            upper=float(limit_element.attrib.get("upper", 0)),
        )
    else:
        limits = None

    # Handle axis
    axis = Axis.from_xml(element.find("axis"))

    # Handle dynamics
    dynamics_element = element.find("dynamics")
    if dynamics_element is not None:
        dynamics = JointDynamics(
            damping=float(dynamics_element.attrib.get("damping", 0)),
            friction=float(dynamics_element.attrib.get("friction", 0)),
        )
    else:
        dynamics = None

    # Handle mimic
    mimic_element = element.find("mimic")
    mimic = JointMimic.from_xml(mimic_element) if mimic_element is not None else None

    return cls(name, parent, child, origin, limits, axis, dynamics, mimic)

to_mjcf(root)

Converts the revolute joint to an XML element and appends it to the given root element.

Parameters:

Name Type Description Default
root Element

The root element to append the revolute joint to.

 required
Source code in onshape_robotics_toolkit\models\joint.py 
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def to_mjcf(self, root: ET.Element) -> None:
    """
    Converts the revolute joint to an XML element and appends it to the given root element.

    Args:
        root: The root element to append the revolute joint to.
    """

    joint = ET.SubElement(root, "joint", name=self.name, type=MJCF_JOINT_MAP[self.joint_type])
    joint.set("pos", " ".join(map(str, self.origin.xyz)))

    self.axis.to_mjcf(joint)
    joint.set("range", " ".join(map(str, [self.limits.lower, self.limits.upper])))

    if self.dynamics:
        joint.set("damping", str(self.dynamics.damping))
        joint.set("frictionloss", str(self.dynamics.friction))

to_xml(root=None)

Convert the revolute joint to an XML element.

Parameters:

Name Type Description Default
root Optional[Element]

The root element to append the revolute joint to.

 None

Returns:

Type Description
Element

The XML element representing the revolute joint.

Examples:

>>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
>>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
>>> axis = Axis(xyz=(0, 0, 1))
>>> dynamics = JointDynamics(damping=0.0, friction=0.0)
>>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
>>> joint = RevoluteJoint(
...     name="joint1",
...     parent="base_link",
...     child="link1",
...     origin=origin,
...     limits=limits,
...     axis=axis,
...     dynamics=dynamics,
...     mimic=mimic,
... )
>>> joint.to_xml()
<Element 'joint' at 0x7f8b3c0b4c70>
Source code in onshape_robotics_toolkit\models\joint.py 
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def to_xml(self, root: Optional[ET.Element] = None) -> ET.Element:
    """
    Convert the revolute joint to an XML element.

    Args:
        root: The root element to append the revolute joint to.

    Returns:
        The XML element representing the revolute joint.

    Examples:
        >>> origin = Origin(xyz=(0, 0, 0), rpy=(0, 0, 0))
        >>> limits = JointLimits(effort=10.0, velocity=1.0, lower=-1.0, upper=1.0)
        >>> axis = Axis(xyz=(0, 0, 1))
        >>> dynamics = JointDynamics(damping=0.0, friction=0.0)
        >>> mimic = JointMimic(joint="joint1", multiplier=1.0, offset=0.0)
        >>> joint = RevoluteJoint(
        ...     name="joint1",
        ...     parent="base_link",
        ...     child="link1",
        ...     origin=origin,
        ...     limits=limits,
        ...     axis=axis,
        ...     dynamics=dynamics,
        ...     mimic=mimic,
        ... )
        >>> joint.to_xml()
        <Element 'joint' at 0x7f8b3c0b4c70>
    """

    joint = super().to_xml(root)
    self.axis.to_xml(joint)
    if self.limits is not None:
        self.limits.to_xml(joint)
    if self.dynamics is not None:
        self.dynamics.to_xml(joint)
    if self.mimic is not None:
        self.mimic.to_xml(joint)
    return joint