# T2

 T2[i->j, pi, pj]function defines a list of input arguments of DefineKinematicPair function for planar translational joint definition.
• The kinematic pair is defined between i and j links where i and j are integers or strings.
• The joint markers are defined with pi and pj .
• If pi is defined as one number ( e.g. 3) its resolved to o:{3,0,0}, z:{1,0,0}, which means that the joint markers origin is placed to the {3,0,0} point and the direction of z-axis is {1,0,0} w.r.t to LLRF of linki.
• If pi is defined as list of two number ( e.g. {3,2}) its resolved to o:{3,2,0}, z:{1,0,0}, which means that the joint markers origin is placed to the {3,2,0} point and the direction of z-axis is {1,0,0} w.r.t to LLRF of linki.
• If pi is defined as list of three number ( e.g. {3,2,15°}) its resolved to o:{3,2,0}, z:{Cos[15°],Sin[15°],0}, which means that the joint markers origin is placed to the {3,2,0} point and the direction of z-axis is {Cos[15°],Sin[15°],0} w.r.t to LLRF of linki.
• The coordinate list {x,y,angle} defines the position and orientation of the translational joint w.r.t local reference frame of i or j link respectively.
• angle specifies a rotation of x-axis around the z-axis.
• T2 function is a utility function that simplifies the kinematic pair definition process.
• The following options can be given:
 JointVariable Automatic specifies the symbol of the joint variable. JointName Automatic specifies the name of the kinematic pair. JointLimits Automatic defines the validity domain of the joint variable(s). JointPose Automatic defines the offset value(s) of the joint variable(s). Parameters {} List of the simple parameters used in the kinematic pair's definition ( e.g {l0→10,l1→3} ). CandidateLoopVariables Automatic List of driving variable that will be used as loop variables in case of loop closing kinematic pair definition. WorkingPrecision MachinePrecision WorkingPrecision is an option for various numerical operations which specifies how many digits of precision should be maintained in internal computations. AccuracyGoal Automatic AccuracyGoal is an option for various numerical operations which specifies how many effective digits of accuracy should be sought in the final result. MaxIterations Automatic MaxIterations is an option that specifies the maximum number of iterations that should be tried in various built-in functions and algorithms.