newton.get_joint_dof_count

newton.get_joint_dof_count(joint_type, num_axes)

Returns the number of degrees of freedom (DoF) in velocity and the number of coordinates in position for a given joint type.

Parameters:

• joint_type (int) – The type of the joint (see JointType).

• num_axes (int) – The number of axes for the joint.

Returns:

A tuple (dof_count, coord_count) where:

• dof_count: Number of velocity degrees of freedom for the joint.

• coord_count: Number of position coordinates for the joint.

Return type:

tuple[int, int]

Notes

• For PRISMATIC and REVOLUTE joints, both values are 1 (single axis).

• For BALL joints, dof_count is 3 (angular velocity), coord_count is 4 (quaternion).

• For FREE and DISTANCE joints, dof_count is 6 (3 translation + 3 rotation), coord_count is 7 (3 position + 4 quaternion).

• For FIXED joints, both values are 0.