v12.joint.Joint.Axis

Warning

This class is autogenerated. More detailed documentation can be found in the SDFormat spec.

class v12.joint.Joint.Axis(xyz='0 0 1', dynamics=None, limit=None)

The joint axis specified in the model frame.

This is the axis of rotation for revolute joints, the axis of translation for prismatic joints. The axis is currently specified in the model frame of reference, but this will be changed to the joint frame in future version of SDFormat (see gazebo issue #494).

Parameters
xyz: Represents the x,y,z components of a vector. The vector

should be normalized.

dynamics: An element specifying physical properties of the

joint. These values are used to specify modeling properties of the joint, particularly useful for simulation.

limit: specifies the limits of this joint

Nested Elements

Note that only complex elements are listed here. Elements that resolve to simple types (int, str, bool) are inlined.

v12.joint.Joint.Axis.Dynamics([damping, ...])

An element specifying physical properties of the joint.

v12.joint.Joint.Axis.Limit([lower, upper, ...])

specifies the limits of this joint.