Joint

Quick Facts

Property	Value
Class	`CENPyOlpJoint`
Module	`cenpylib.CENPyOlpJoint`
Package	`cenpylib`
Release	R2026.1
Methods	7

Quick Start


# Boilerplate Example
joint = ...  # obtained from the runtime context
result = joint.GetName()

Method Index

Method	Returns	Summary
`GetName`	`str`	Get the joint name.
`GetKinType`	`int`	Returns the kinematic type of a joint
`GetJointType`	`int`	Returns the joint type
`GetJointIndex`	`int`	The joint index results out of the sum of the RSIM-index for main joints and external joints,
`GetMinPos`	`float`	Returns joint minimum position
`GetMaxPos`	`float`	Returns joint maximum position
`GetCurrentPos`	`float`	Returns joint actual position

Query Methods

`GetName`


def GetName() -> str

Get the joint name.

Returns: str — Joint name.

`GetKinType`


def GetKinType() -> int

Returns the kinematic type of a joint

Returns: int — kinematic type

`GetJointType`


def GetJointType() -> int

Returns the joint type

Returns: int — joint type

`GetJointIndex`


def GetJointIndex() -> int

The joint index results out of the sum of the RSIM-index for main joints and external joints, whereby main joints start at 1 and the externals continue after the last main joint.

Returns: int — Joint index

`GetMinPos`


def GetMinPos() -> float

Returns joint minimum position

Returns: float — Minimum position.

`GetMaxPos`


def GetMaxPos() -> float

Returns joint maximum position

Returns: float — Maximum position.

`GetCurrentPos`


def GetCurrentPos() -> float

Returns joint actual position

Returns: float — Current position.

Version Notes

This class is documented as of release R2026.1.1.

Was this page helpful?