Kinematics

class KinematicNode

Base class: SceneObject

property id

The id of the scene object.

Type: str, read-only

property name

The name of the scene object.

Type: str
Raises: ReadOnlyError -- If Database is in read only mode.

property type

The type of the scene object.

Type: SceneObjectType, read-only

property parent_object

The parent object of this object or None if no parent.

Type

KinematicNode or None

Raises

ReadOnlyError -- If Database is in read only mode.
ValueError -- If trying to move the object into one of its children, trying to move the object to another model, trying to move the object to itself or trying to move the object to an object which is not a KinematicNode (that is an Axis, a Null or a Vector ).

property visible

The scene object visibility.

Type: bool
Raises: ReadOnlyError -- If Database is in read only mode.

property locked

The scene object lock state.

Type: bool
Raises: ReadOnlyError -- If Database is in read only mode.

property selected

Whether the scene object is selected.

Type: bool
Raises: ReadOnlyError -- If Database is in read only mode.

property color

The shaper color of the scene object.

Type: ColorRgb
Raises: ReadOnlyError -- If Database is in read only mode.

property translation

The global translation of the scene object, in meters.

Type: Vector3
Raises: ReadOnlyError -- If Database is in read only mode.

property rotation

The global rotation of the scene object, in degrees.

Type: Vector3
Raises: ReadOnlyError -- If Database is in read only mode.

property scale

The global scale of the scene object.

Type

Vector3

Raises

ReadOnlyError -- If Database is in read only mode.
ValueError -- If trying to set a negative scale or trying to scale a Kinematics object.

property pivot_to_world_translation

The translation from pivot point to global position, in meters.

Type: Vector3
Raises: ReadOnlyError -- If Database is in read only mode.

property pivot_to_world_rotation

The rotation from pivot point to global orientation, in degrees.

Type: Vector3
Raises: ReadOnlyError -- If Database is in read only mode.

property local_to_pivot_translation

The translation from local point to pivot position, in meters.

Type: Vector3
Raises: ReadOnlyError -- If Database is in read only mode.

property local_to_pivot_rotation

The rotation from local point to pivot orientation, in degrees.

Type: Vector3
Raises: ReadOnlyError -- If Database is in read only mode.

property pivot_to_parent_translation

The translation from pivot point to parent position, in meters

Note

If the object does not have a parent, it returns the global translation.

Type: Vector3
Raises: ReadOnlyError -- If Database is in read only mode.

property pivot_to_parent_rotation

The rotation from pivot point to parent orientation, in degrees

Note

If the object does not have a parent, it returns the global rotation.

Type: Vector3
Raises: ReadOnlyError -- If Database is in read only mode.

property local_to_parent_translation

The translation from local point to parent position, in meters.

Type: Vector3, read-only

property local_to_parent_rotation

The rotation from local point to parent orientation, in degrees.

Type: Vector3, read-only

list_child_objects(recursive=True)

List the child kinematic object of this objects.

Parameters: recursive (bool) -- If True, lists all child objects in this object, otherwise only the direct child objects are returned.
Returns: The list of kinematic object of this node.
Return type: list(KinematicNode)

has_tag(tag)

Whether the tag is assigned to the scene object.

Parameters: tag (str) -- Name of the tag.
Returns: Whether the tag is assigned to the scene object.
Return type: bool

list_tags()

List all the tags assigned to the scene object.

Returns: The list of tags assigned to the scene object.
Return type: list(str)

add_tag(tag)

Create a new tag and assign to the scene object.

Parameters: tag (str) -- Name of the tag.
Returns: Whether the tag was added or not.
Return type: bool
Raises: ReadOnlyError -- If Database is in read only mode.

remove_tag(tag)

Remove tag from the scene object.

Parameters: tag (str) -- Name of the tag.
Raises: ReadOnlyError -- If Database is in read only mode.

remove()

Delete this scene object.

Raises: ReadOnlyError -- If Database is in read only mode.

add_surface(surface)

Add the given Surface to the current kinematic node.

Parameters: surface (Surface) -- The Surface to add into the kinematic node.
Raises: ReadOnlyError -- If Database is in read only mode.

create_axis(name)

Create an Axis in the current KinematicNode.

Parameters: name (str) -- Name of the axis.
Returns: The created axis.
Return type: Axis
Raises: ReadOnlyError -- If Database is in read only mode.

create_vector(name)

Create a Vector in the current KinematicNode.

Parameters: name (str) -- Name of the vector.
Returns: The created vector.
Return type: Vector
Raises: ReadOnlyError -- If Database is in read only mode.

create_null(name)

Create a Null in the current KinematicNode.

Parameters: name (str) -- Name of the null.
Returns: The created null.
Return type: Null
Raises: ReadOnlyError -- If Database is in read only mode.

list_surfaces()

List the surfaces of this kinematic node.

Returns: The list of surfaces of this kinematic node.
Return type: list(Surface)

Axis

class Axis

Base class: KinematicNode

property origin_point

The initial extremity of the axis.

Type: Vector3
Raises: ReadOnlyError -- If Database is in read only mode.

property end_point

The final extremity of the axis.

Type: Vector3
Raises: ReadOnlyError -- If Database is in read only mode.

property min_angle

The minimal angle value (in degrees).

Type: float
Raises: ReadOnlyError -- If Database is in read only mode.

property max_angle

The maximal angle value (in degrees).

Type: float
Raises: ReadOnlyError -- If Database is in read only mode.

add_surface(surface)

Add the given Surface to the current kinematic node.

Parameters: surface (Surface) -- The Surface to add into the kinematic node.
Raises: ReadOnlyError -- If Database is in read only mode.

create_axis(name)

Create an Axis in the current KinematicNode.

Parameters: name (str) -- Name of the axis.
Returns: The created axis.
Return type: Axis
Raises: ReadOnlyError -- If Database is in read only mode.

create_vector(name)

Create a Vector in the current KinematicNode.

Parameters: name (str) -- Name of the vector.
Returns: The created vector.
Return type: Vector
Raises: ReadOnlyError -- If Database is in read only mode.

create_null(name)

Create a Null in the current KinematicNode.

Parameters: name (str) -- Name of the null.
Returns: The created null.
Return type: Null
Raises: ReadOnlyError -- If Database is in read only mode.

list_surfaces()

List the surfaces of this kinematic node.

Returns: The list of surfaces of this kinematic node.
Return type: list(Surface)

duplicate()

Duplicate this axis node with its children.

Returns: The duplicated axis.
Return type: Axis
Raises: ReadOnlyError -- If Database is in read only mode.

Null

class Null

Base class: KinematicNode

property position

The position of the null.

Note

This coincides with the property translation from the inherited class SceneObject.

Type: Vector3
Raises: ReadOnlyError -- If Database is in read only mode.

add_surface(surface)

Add the given Surface to the current kinematic node.

Parameters: surface (Surface) -- The Surface to add into the kinematic node.
Raises: ReadOnlyError -- If Database is in read only mode.

create_axis(name)

Create an Axis in the current KinematicNode.

Parameters: name (str) -- Name of the axis.
Returns: The created axis.
Return type: Axis
Raises: ReadOnlyError -- If Database is in read only mode.

create_vector(name)

Create a Vector in the current KinematicNode.

Parameters: name (str) -- Name of the vector.
Returns: The created vector.
Return type: Vector
Raises: ReadOnlyError -- If Database is in read only mode.

create_null(name)

Create a Null in the current KinematicNode.

Parameters: name (str) -- Name of the null.
Returns: The created null.
Return type: Null
Raises: ReadOnlyError -- If Database is in read only mode.

list_surfaces()

List the surfaces of this kinematic node.

Returns: The list of surfaces of this kinematic node.
Return type: list(Surface)

duplicate()

Duplicate this null node with its children.

Returns: The duplicated null.
Return type: Null
Raises: ReadOnlyError -- If Database is in read only mode.

Vector

class Vector

Base class: KinematicNode

property origin_point

The initial extremity of the vector.

Type: Vector3
Raises: ReadOnlyError -- If Database is in read only mode.

property end_point

The final extremity of the vector.

Type: Vector3
Raises: ReadOnlyError -- If Database is in read only mode.

property min_distance

The minimal distance value.

Type: float
Raises: ReadOnlyError -- If Database is in read only mode.

property max_distance

The maximal distance value.

Type: float
Raises: ReadOnlyError -- If Database is in read only mode.

add_surface(surface)

Add the given Surface to the current kinematic node.

Parameters: surface (Surface) -- The Surface to add into the kinematic node.
Raises: ReadOnlyError -- If Database is in read only mode.

create_axis(name)

Create an Axis in the current KinematicNode.

Parameters: name (str) -- Name of the axis.
Returns: The created axis.
Return type: Axis
Raises: ReadOnlyError -- If Database is in read only mode.

create_vector(name)

Create a Vector in the current KinematicNode.

Parameters: name (str) -- Name of the vector.
Returns: The created vector.
Return type: Vector
Raises: ReadOnlyError -- If Database is in read only mode.

create_null(name)

Create a Null in the current KinematicNode.

Parameters: name (str) -- Name of the null.
Returns: The created null.
Return type: Null
Raises: ReadOnlyError -- If Database is in read only mode.

list_surfaces()

List the surfaces of this kinematic node.

Returns: The list of surfaces of this kinematic node.
Return type: list(Surface)

duplicate()

Duplicate this vector node with its children.

Returns: The duplicated vector.
Return type: Vector
Raises: ReadOnlyError -- If Database is in read only mode.