v15.joint.Joint.Axis2

Warning

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.

Parameters
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.

limit:

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, ...])

Parameters