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

class v15.joint.Joint.Axis2(xyz='0 0 1', use_parent_model_frame=False, dynamics=None, limit=None)

Parameters related to the second axis of rotation for revolute2 joints and universal joints.

xyz: Represents the x,y,z components of the axis unit vector.

The axis is expressed in the joint frame unless the use_parent_model_frame flag is set to true. The vector should be normalized.

use_parent_model_frame: Flag to interpret the axis xyz element

in the parent model frame instead of joint frame. Provided for Gazebo compatibility (see https://github.com/osrf/gazebo/issue/494 ).

dynamics: An element specifying physical properties of the

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


Nested Elements

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

v15.joint.Joint.Axis2.Dynamics([damping, ...])

An element specifying physical properties of the joint.

v15.joint.Joint.Axis2.Limit([lower, upper, ...])