Add support for robotics. PLM XML Constraint Schema. Constraint Help information. The type attribute determines which other attributes are allowed, as follows: point u v precedence boundary no no no no centre no no no no point yes no no no paramUV no yes yes no paramU no yes no no surfacePoint yes yes yes yes curvePoint yes yes no yes Attributes: type: specifies the type of Help information included point: 2D or 3D point coordinates u: u parameter (curve or surface) v: v parameter (surface) precedence: specifies whether the 3D point, or the parameters are to take precedence. For example, the 3D point may be precise, and the parameter(s) an approximation. A GeometryData element contains information about a geometric object. Attributes: geometryType: the type of the geometry. planar: true if the geometry is a planar curve subType: additional information about the geometry A ConstraintTargetRef is a means of referencing the target of a constraint, typically a geometric object, together with associated information required by the constraint. It uses the "occurrenceRef" attribute, and "EntityRef" sub-element, inherited from GDEReferenceType. Attributes: halfSpace: specifies the relevant halfspace of the geometry. occurrenceRef: Inherited from GDEReference. References a MechanismOccurrence. See the "Representing Feature Semantics" Chapter of the PLM XML Schema Functional Description. pathRefs: Inherited from GDEReference. References a list of MechanismInstances, which defines an occurrence of a Mechanism object by defining a unique path through an instance graph. targetRef: Inherited from GDEReference. References the target Marker, Joint or geometry. degreeOfFreedom: If the target of the constraint is a Joint, degreeOfFreedom specifies the degree of freedom of the Joint that the ConstraintTargetRef targets. Sub-elements: ConstraintHelp: an element derived from ConstraintHelp, which assists the constraint solver. GeometryData: If the target is geometry, GeometryData contains information about the geometric object. A ConstraintData element contains information which defines a constraint. Attributes: value: the numerical value of the constraint, in metres or radians. dimension: whether a 2- or 3-dimensional constraint. orientation: surface orientation - "align" or "antiAlign" alignment: direction alignment - "align" or "antiAlign" torusCoincidence: additional information for when the constraint involves coincidence with a torus. suppressed: true if this constraint is not to be used when solving the system of constraints. rigid: true if the constraint is "rigid", i.e. it is not necessarily possible to vary the value of the constraint while fixing the values of all the other constraints. A Constraint is a subclass of GDE that models a condition applied to occurrences of geometric objects in a Product Structure or Mechanism objects in a Mechanism Structure. Attributes: type: The type of the Constraint (concentric, parallel, et cetera). Sub-elements: ConstraintData: Data defining a geometric Constraint or a Contact Constraint. ConstraintTargetRef: References to constrained geometry. JointData: Additional data for a Joint Constraint. FrictionData: Additional data for a Friction Constraint or a Joint Constraint. DriverData: Additional data for a Driver Constraint or a Joint Constraint. ForceData: Additional data for a Force Constraint. SpringData: Additional data for a Spring Constraint. DamperData: Additional data for a Damper Constraint. BushingData: Additional data for a Bushing Constraint. ContactData: Additional data for a Contact Constraint. CouplerData: Additional data for a Coupler Constraint or a Joint Constraint that infers a Joint. LimitsDependencyData: Additional data for a Limits Dependency Constraint. This subclass of GDEInstance may be used for instancing a Constraint. If a particular type of sub-element is present, the ConstraintInstance overrides the entire set of sub-elements of that type present under the Constraint. Sub-elements: ConstraintData: Overrides the data defining the geometric Constraint or the Contact Constraint. ConstraintTargetRef: Overrides references to constrained geometry. JointData: Overrides additional data for a Joint Constraint. FrictionData: Overrides additional data for a Friction Constraint or a Joint Constraint. DriverData: Overrides additional data for a Driver Constraint or a Joint Constraint. ForceData: Overrides additional data for a Force Constraint. SpringData: Overrides additional data for a Spring Constraint. DamperData: Overrides additional data for a Damper Constraint. BushingData: Overrides additional data for a Bushing Constraint. ContactData: Overrides additional data for a Contact Constraint. CouplerData: Overrides additional data for a Coupler Constraint or a Joint Constraint that infers a Joint. LimitsDependencyData: Additional data for a Limits Dependency Constraint. This subclass of Occurrence may be used where the Occurrence references a Constraint. If a particular type of sub-element is present, the ConstraintOccurrence overrides the entire set of sub-elements of that type present under the ConstraintInstance or Constraint. Sub-elements: ConstraintData: Overrides the data defining the geometric Constraint or the Contact Constraint. ConstraintTargetRef: Overrides references to constrained geometry. JointData: Overrides additional data for a Joint Constraint. FrictionData: Overrides additional data for a Friction Constraint or a Joint Constraint. DriverData: Overrides additional data for a Driver Constraint or a Joint Constraint. ForceData: Overrides additional data for a Force Constraint. SpringData: Overrides additional data for a Spring Constraint. DamperData: Overrides additional data for a Damper Constraint. BushingData: Overrides additional data for a Bushing Constraint. ContactData: Overrides additional data for a Contact Constraint. CouplerData: Overrides additional data for a Coupler Constraint or a Joint Constraint that infers a Joint. LimitsDependencyData: Additional data for a Limits Dependency Constraint. A revision-independent Mechanism, analogous to Product in the Product Structure. A revision of a Mechanism, analogous to a ProductRevision in the Product Structure. The type of the solution, for which the Mechanism model is designed. Dynamic analysis may be performed on models with one or more degrees of freedom. It uses Newton's Laws of Motion to determine the motion of all the Mechanism objects. A kinematic model has zero degrees of freedom and the motion of one or more Mechanism objects is pre-defined. The analyser determines the motion of all the other Mechanism objects. Static or equilibrium analysis determines the positions & orientations of, and the forces & torques on, all the Mechanism objects at an equilibrium. The type of the Mechanism solver. adams means ADAMS/Solver from MSC.Software Corporation is supported. (ADAMS is a trademark of MSC.Software Corporation.) tecnomatix means Tecnomatix robotics. The type of the Mechanism solver parameter. These 3 parameters specify the maximum number of iterations allowed to solve the equations of motion during dynamic, kinematic and static or equilibrium analysis respectively. (During dynamic analysis, the equations of motion are derived by numerically integrating Newton's Laws of Motion.) A parameter for a particular Mechanism solver. Attributes: type: The type of the Mechanism solver as a SolverEnum. title: The type of the Mechanism solver parameter as a SolverParameterEnum. value: The value of the Mechanism solver parameter. The parameters for a Mechanism solution. Attribute: type: The type of the solution, for which the Mechanism is designed as a SolverAnalysisEnum. maxIntegratorStep: The maximum step in SI units of time (seconds) that the integrator of the Mechanism solver is allowed to take. integratorError: The maximum relative error allowed in the output of the integrator. Sub-element: SolverParameter: A parameter for a particular Mechanism solver. The inertia of a Mechanism object about Marker. Attribute: markerRef: References a Marker, which defines the position, about which the inertia of the Mechanism object is defined. If the Marker also holds orientation information, the inertia is defined in the coordinate system of the Marker. Otherwise, it is defined in the coordinate system of the Mechanism object. (A Marker may not hold orientation information if it has a translational rather than general Transform sub-element or references a Smart Point rather than a Smart Vector.) The initial translational and rotational velocities of a Mechanism object. Attributes: translationVelocity: The initial translational velocity of the Mechanism object in SI units, currently metres per second. The default is 0.0, 0.0, 0.0. translationOrientationRef: References a Marker, which defines the coordinate system, in which the translational velocity is defined. If the Marker does not hold orientation information, the translational velocity is defined in the coordinate system of the Mechanism object. rotationVelocity: The initial rotational velocity of the Mechanism object in SI units, currently radians per second. The default is 0.0, 0.0, 0.0. rotationCentreRef: References a Marker, which defines the position of the centre of rotation of the Mechanism object. If the Marker also holds orientation information, the rotational velocity is defined in the coordinate system of the Marker. Otherwise, it is defined in the coordinate system of the Mechanism object. (A Marker may not hold orientation information if it has a translational rather than general Transform sub-element or references a Smart Point rather than a Smart Vector.) The acceleration due to a gravitational field. Attribute: value: The vector value of the acceleration due to the gravitational field in SI units, currently metres per second per second. The default is 0.0, 0.0, 0.0. The maximum velocity of a Joint. Attribute: degreeOfFreedom: The degree of freedom along or around which the velocity of the Marker given by the second ConstraintTargetRef of the Joint relative to the Marker given by the second is measured. Represented as a DegreeOfFreedomEnum. Sub-element: ValueWithUnit: The value of the maximum allowed velocity. The maximum acceleration of a Joint. Attribute: degreeOfFreedom: The degree of freedom along or around which the acceleration of the Marker given by the second ConstraintTargetRef of the Joint relative to the Marker given by the second is measured. Represented as a DegreeOfFreedomEnum. Sub-element: ValueWithUnit: The value of the maximum allowed acceleration. A view of a revision of a Mechanism, analogous to a ProductRevisionView in the Product Structure. MechanismRevisionView elements are used together with MechanismInstance elements in an instance graph. At the leaf nodes, they represent conceptual rigid bodies, which may be implemented by ProductRevisionView elements. At other levels, they represent sub-assemblies of conceptual rigid bodies, known as sub-mechanisms, and at the top level, they represent the mechanism definition. Attributes: id: Inherited from StructureRevisionView. name: Inherited from StructureRevisionView. instanceRefs: Inherited from StructureRevisionView. References MechanismInstance elements, which represent Mechanism objects. gdeInstanceRefs: Inherited from StructureRevisionView. References JointInstance elements. propertyRefs: Inherited from StructureRevisionView. A list of references to elements representing properties such as mass or initial velocity. See also the PropertyGroup sub-element. See the "Defining Mass and Material Properties" Chapter of the PLM XML Schema Functional Description. Sub-elements: Bound: Inherited from StructureRevisionView. Represents the bounding box in which the Mechanism object lies. See Section 5.4.2 of the PLM XML Schema Functional Description. PropertyGroup: Inherited from StructureRevisionView. May have sub-elements representing properties such as mass or initial velocity. See also the propertyRefs attribute. See the "Defining Mass and Material Properties" Chapter of the PLM XML Schema Functional Description. MechanismParameters: The parameters for a Mechanism solution. Marker: The Markers on the Mechanism object. An Instance of a MechanismRevisionView. A MechanismInstance represents an instance of a Mechanism object. A MechanismInstance may reference geometry in the Product Structure via Reference elements. A Reference may reference an Occurrence in the Product Structure via its occurrenceRef attribute. A MechanismInstance may correspond to different Occurrence elements for different purposes by using more than one Reference. In this case, each Reference has a different value for its type attribute. Attributes: id: Inherited from Instance. name: Inherited from Instance. partRef: Inherited from Instance. References a MechanismRevisionView, which represents a Mechanism object. propertyRefs: Inherited from Instance. A list of references to elements representing properties such as mass or initial velocity. See also the PropertyGroup sub-element. See the "Defining Mass and Material Properties" Chapter of the PLM XML Schema Functional Description. Sub-elements: Bound: Inherited from Instance. Represents the bounding box in which the Mechanism object lies. See Section 5.4.2 of the PLM XML Schema Functional Description. PropertyGroup: Inherited from Instance. May have sub-elements representing properties such as mass or initial velocity. See also the propertyRefs attribute. See the "Defining Mass and Material Properties" Chapter of the PLM XML Schema Functional Description. Marker: The Markers on the Mechanism object. Reference: Inherited from Instance. The occurrenceRef attribute of a Reference element references an Occurrence in the Product Structure. See the "Representing Feature Semantics" Chapter of the PLM XML Schema Functional Description. An Occurrence of a MechanismRevisionView. A MechanismOccurrence represents an occurrence of a Mechanism object. A MechanismOccurrence may reference geometry in the Product Structure via Reference elements. A Reference may reference an Occurrence in the Product Structure via its occurrenceRef attribute. A MechanismOccurrence may correspond to different Occurrence elements for different purposes by using more than one Reference. In this case, each Reference has a different value for its type attribute. Attributes: id: Inherited from Occurrence. name: Inherited from Occurrence. instanceRefs: Inherited from Occurrence. References a list of MechanismInstances, which define a particular Mechanism object. propertyRefs: Inherited from Occurrence. A list of references to elements representing properties such as mass or initial velocity. See also the PropertyGroup sub-element. See the "Defining Mass and Material Properties" Chapter of the PLM XML Schema Functional Description. Sub-elements: Bound: Inherited from Occurrence. Represents the bounding in which the Mechanism object lies. See Section 5.4.2 of the PLM XML Schema Functional Description. PropertyGroup: Inherited from Occurrence. May have sub-elements representing properties such as mass or initial velocity. See also the propertyRefs attribute. See the "Defining Mass and Material Properties" Chapter of the PLM XML Schema Functional Description. Marker: The Markers on the Mechanism object. Reference: Inherited from Occurrence. The occurrenceRef attribute of a Reference element references an Occurrence in the Product Structure. See the "Representing Feature Semantics" Chapter of the PLM XML Schema Functional Description. A View of a Mechanism Structure. Attributes: id: Inherited from ConfigurationView. name: Inherited from ConfigurationView. rootRefs: References the MechanismOccurrences and ConstraintOccurrences that are not children of other MechanismOccurrences or ConstraintOccurrences in the MechanismView. definition: Specifies how the MechanismView is defined as a ProductViewDefinitionType. usage: The usage for the MechanismView as a ProductViewUsageType. Sub-elements: MechanismOccurrence: The MechanismOccurrences of the MechanismView. ConstraintOccurrence: The ConstraintOccurrences of the MechanismView. The coordinate frame of a robot. A point with orientation in a Mechanism object. The position and orientation given by any Smart Point is used in preference to any Transform. Attributes: pointRef: References a Smart Point or ExternalReference to a Smart Point. See the "Representing Delta Information" Chapter of the PLM XML Schema Functional Description. type: The type of the Marker as a MarkerEnum. Sub-elements: Transform: The position and orientation of the Marker with respect to origin of the Mechanism object. See Section 5.3.1 of the PLM XML Schema Functional Description. The degree of freedom. Translation along or rotation about the x, y or z axis. The linear limits of a translational Joint or the angular limits of a revolute Joint. May appear as a sub-element (inside a PropertyGroup) or be referenced by the Joint Constraint. Attributes: degreeOfFreedom: The degree of freedom of the Joint that the JointLimits limits. Represented as a DegreeOfFreedomEnum. Sub-elements: RangeWithUnit: The linear limits of a translational degree of freedom or the angular limits of a rotational degree of freedom. If the units are not specified, SI units are assumed. The type of a Joint. Whether the overlap of a translational or cylindrical Joint increases, decreases or remains constant. Additional data for a Joint Constraint. Only one JointData sub-element is allowed in a Constraint, ConstraintInstance or ConstraintOccurrence element. Attributes: id: Inherited from AttribOwner. name: Inherited from AttribOwner. type: The type of the Joint as a JointEnum. Additional data for a Friction Constraint. Two FrictionData sub-elements are allowed in a Constraint, ConstraintInstance or ConstraintOccurrence element. Attributes: id: Inherited from AttribOwner. name: Inherited from AttribOwner. yokeRef: References one of the ConstraintTargetRef elements, which references one of the Markers of a universal Joint. initialOverlap: The initial overlap of a translational or cylindrical Joint in SI units, currently metres. overlapDelta: Whether the overlap increases, decreases or remains constant as a JointOverlapDeltaEnum. innerRadius: The radius of the pin of a revolute, cylindrical or universal Joint in SI units, currently metres. ballRadius: The radius of the ball of a spherical Joint in SI units, currently metres. bendingReactionArm: The effective moment arm of the reaction torque due to bending the pin of a revolute, cylindrical or universal Joint in SI units, currently metres. frictionArm: The effective moment arm of the frictional torque at the end of the pin of a revolute, cylindrical or universal Joint in SI units, currently metres. reactionArm: The effective moment arm of the reaction torque due to twisting a translational Joint around its degree of freedom in SI units, currently metres. frictionalPreloadForce: The frictional preload force in SI units, currently newtons. frictionalPreloadTorque: The frictional preload torque in SI units, currently newton metres. preload: Whether the preload force and the preload torque contribute to the friction model. The default is true, which means the preload force and preload torque are on by default. reactionForce: Whether the Joint reaction forces contribute to the friction model. The default is true, which means the Joint reaction forces are on by default. bendingMoment: Whether the bending moment due to bending the pin of a revolute, cylindrical or universal Joint contributes to the friction model. The default is true, which means the bending moment is on by default. torsionalMoment: Whether the torsional moment due to twisting a translational Joint around its degree of freedom contributes to the friction model. The default is true, which means the torsional moment is on by default. staticAnalysis: Whether friction is considered in a static solution. The default is true, which means friction is on by default. staticCoefficient: The coefficient of static friction. This is a dimensionless quantity. The default is 0.0. dynamicCoefficient: The coefficient of dynamic friction. This is a dimensionless quantity. The default is 0.0. staticTransitionSpeed: The surface speed at which the transition from static friction to dynamic friction begins in SI units, currently metres per second. The effective coefficient of friction equals the coefficient of static friction. dynamicTransitionSpeed: The surface speed at which the transition from static friction to dynamic friction ends in SI units, currently metres per second. The effective coefficient of friction equals the coefficient of dynamic friction. maximumDisplacement: The maximum surface displacement allowed during static friction due to the creep of a Joint in SI units, currently metres. staticFriction: Whether the static friction contributes to the friction model. The default is true, which means the static friction is on by default. dynamicFriction: Whether the dynamic friction contributes to the friction model. The default is true, which means the dynamic friction is on by default. The type of a Driver. A Mechanism expression. Attributes: expression: The expression in the syntax of the Mechanism solver as a string. format: The format of the expression as a SolverEnum. The components of a DriverData. Several degrees of freedom may be driven by having several DriverComponent sub-elements in a DriverData element. Attributes: id: Inherited from AttribOwner. name: Inherited from AttribOwner. type: The type of the Driver as a DriverEnum. degreeOfFreedom: The degree of freedom of the Joint that the Driver drives. Represented as a DegreeOfFreedomEnum. displacement: If type is "constant", displacement is the constant displacement if velocity & acceleration are unspecified and the initial displacement if velocity or acceleration are specified. If type is "harmonic", displacement is the constant offset of the harmonic component from the origin. The units are SI units, currently metres for translational Drivers or radians for rotational Drivers. The default is 0.0. velocity: The constant velocity of a constant Driver if acceleration is unspecified. The initial velocity if it is specified. The units are SI units, currently metres per second for translational Drivers or radians per second for rotational Drivers. The default is 0.0. acceleration: The constant acceleration of a constant Driver in SI units, currently metres per second per second for translational Drivers or radians per second per second for rotational Drivers. The default is 0.0. amplitude: The amplitude of a harmonic Driver in SI units, currently metres for translational Drivers or radians for rotational Drivers. The default is 0.0. frequency: The frequency of a harmonic Driver in SI units, currently radians per second. The default is 0.0. phaseAngle: The phase angle of a harmonic Driver in SI units, currently radians. The default is 0.0. Sub-elements: DisplacementExpression: A MechanismExpression that defines the displacement of a general Driver. VelocityExpression and AccelerationExpression must not be present. VelocityExpression: A MechanismExpression that defines the velocity of a general Driver. The initial displacement is defined by the displacement attribute. DisplacementExpression and AccelerationExpression must not be present. AccelerationExpression: A MechanismExpression that defines the acceleration of a general Driver. The initial velocity is defined by the velocity attribute and the initial displacement is defined by the displacement attribute. DisplacementExpression and VelocityExpression must not be present. Additional data for a Driver Constraint. Only one DriverData sub-element is allowed in a Constraint, ConstraintInstance or ConstraintOccurrence element. Several degrees of freedom may be driven by having several DriverComponent sub-elements in a DriverData element. Attributes: id: Inherited from AttribOwner. name: Inherited from AttribOwner. Sub-element: DriverComponent: The components of the Driver represented as DriverComponentType. The components of a ForceData. Vector Forces and Torques are represented by having several ForceComponent sub-elements in a ForceData element. Attributes: id: Inherited from AttribOwner. name: Inherited from AttribOwner. constant: Whether the Force or Torque is a constant or general Force or Torque. degreeOfFreedom: The degree of freedom of the Joint along or around which the force or torque acts. Represented as a DegreeOfFreedomEnum. force: The force or torque of a constant Force or Torque in SI units, currently newtons for Forces and newton metres for Torques. The default is 0.0. Sub-element: ForceExpression: A MechanismExpression that defines the force or torque of a general Force or Torque. Additional data for a Force Constraint. Force Constraints can represent Forces or Torques. Only one ForceData sub-element is allowed in a Constraint, ConstraintInstance or ConstraintOccurrence element. Vector Forces and Torques are represented by having several ForceComponent sub-elements in a ForceData element. Attributes: id: Inherited from AttribOwner. name: Inherited from AttribOwner. scalar: Whether the Force or Torque is a scalar or vector Force or Torque. translation: Whether the force or torque acts along translational degrees of freedom (in which case it is a Force) or around rotational degrees of freedom (in which case it is a Torque). Sub-element: ForceComponent: The components of the Force represented as ForceComponentType. Additional data for a Spring Constraint. Only one SpringData sub-element is allowed in a Constraint, ConstraintInstance or ConstraintOccurrence element. Attributes: id: Inherited from AttribOwner. name: Inherited from AttribOwner. degreeOfFreedom: The degree of freedom of the Joint along or around which the Spring acts. Represented as a DegreeOfFreedomEnum. preloadForce: The preload force or torque in SI units, currently newtons for forces acting along translational degrees of freedom and newton metres for torques acting around rotational degrees of freedom. The default is 0.0. stiffness: The spring constant of a Spring in SI units, currently newtons per metre for Springs acting along translational degrees of freedom and newton metres per radian for Springs acting around rotational degrees of freedom. The default is 0.0. free: The free length or angle of a Spring in SI units, currently metres for Springs acting along translational degrees of freedom and radians for Springs acting around rotational degrees of freedom. The default is 0.0. Additional data for a Damper Constraint. Only one DamperData sub-element is allowed in a Constraint, ConstraintInstance or ConstraintOccurrence element. Attributes: id: Inherited from AttribOwner. name: Inherited from AttribOwner. degreeOfFreedom: The degree of freedom of the Joint along or around which the Damper acts. Represented as a DegreeOfFreedomEnum. coefficient: The viscous damping coefficient of a Damper in SI units, currently newton seconds per metre for Dampers acting along translational degrees of freedom and newton metre seconds per radian for Dampers acting around rotational degrees of freedom. The default is 0.0. Additional data for a Bushing Constraint. Only one BushingData sub-element is allowed in a Constraint, ConstraintInstance or ConstraintOccurrence element. Attributes: id: Inherited from AttribOwner. name: Inherited from AttribOwner. preloadForce: The vector components of the preload force in SI units, currently newtons. The default is 0.0, 0.0, 0.0. preloadTorque: The vector components of the preload torque in SI units, currently newton metres. The default is 0.0, 0.0, 0.0. translationStiffness: The translational vector components of the spring constant of the Bushing in SI units, currently newtons per metre. The default is 0.0, 0.0, 0.0. rotationStiffness: The rotational vector components of the spring constant of the Bushing in SI units, currently newton metres per radian. The default is 0.0, 0.0, 0.0. translationCoefficient: The translational vector components of the viscous damping coefficient of the Bushing in SI units, currently newton seconds per metre. The default is 0.0, 0.0, 0.0. rotationCoefficient: The rotational vector components of the viscous damping coefficient of the Bushing in SI units, currently newton metre seconds per radian. The default is 0.0, 0.0, 0.0. Additional data for a Contact Constraint. Only one ContactData sub-element is allowed in a Constraint, ConstraintInstance or ConstraintOccurrence element. Attributes: id: Inherited from AttribOwner. name: Inherited from AttribOwner. impact: Whether the contact model is impact or poisson. stiffness: The spring constant of the Contact in SI units, currently newtons per metre. The default is 0.0. stiffnessExponent: The exponent of the penetration in a non-linear spring equation, used to calculate the normal force. The default is 1.0. dampingCoefficient: The viscous damping coefficient of the Contact in SI units, currently newton seconds per metre. The default is 0.0. boundaryPenetration: The penetration in SI units, currently metres, at which the effective coefficient of damping equals the dampingCoefficient. restitution: The coefficient of restitution. This is a dimensionless quantity. staticCoefficient: The coefficient of static friction. This is a dimensionless quantity. The default is 0.0. dynamicCoefficient: The coefficient of dynamic friction. This is a dimensionless quantity. The default is 0.0. staticTransitionSpeed: The surface speed at which the transition from static friction to dynamic friction begins in SI units, currently metres per second. The effective coefficient of friction equals the coefficient of static friction. dynamicTransitionSpeed: The surface speed at which the transition from static friction to dynamic friction ends in SI units, currently metres per second. The effective coefficient of friction equals the coefficient of dynamic friction. The type of a Coupler. Additional data for a Coupler Constraint or a Joint Constraint that infers a Coupler. Only one CouplerData sub-element is allowed in a Constraint, ConstraintInstance or ConstraintOccurrence element. Attributes: id: Inherited from AttribOwner. name: Inherited from AttribOwner. type: The type of the Coupler as a CouplerEnum. ratio: The ratio of the first Joint of the Coupler to the second Joint of the Coupler in SI units, currently metres or radians. The default is 1.0. This attribute is deprecated in favour of ratios. ratios: A list of ratio values in SI units, currently metres or radians. The first value represents the ratio of the Joint given by the last ConstraintTargetRef of the Coupler to the Joint given by the first. The second value represents the ratio of the Joint given by the last ConstraintTargetRef of the Coupler to the Joint given by the second. And so on. Additional data for a Limits Dependency Constraint. Only one LimitsDependencyData sub-element is allowed in a Constraint, ConstraintInstance or ConstraintOccurrence element. Attributes: id: Inherited from AttribOwner. name: Inherited from AttribOwner. Sub-elements: ValueWithUnit: The list of ValueWithUnit sub-elements represents the values of the independent Joint given by the first ConstraintTargetRef of the Limits Dependency. The limits of the dependent Joint corresponding to a given value are represented by the corresponding RangeWithUnit sub-element. The limits of the dependent Joint at intermediate values of the independent Joint are found by linear interpolation. RangeWithUnit: The list of RangeWithUnit sub-elements represents the limits of the dependent Joint given by the second ConstraintTargetRef of the Limits Dependency. The value of the independent Joint corresponding to given limits is represented by the corresponding ValueWithUnit sub-element. The limits of the dependent Joint at intermediate values of the independent Joint are found by linear interpolation.