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

class v17.joint.Joint.Axis2(initial_position=0.0, xyz=None, dynamics=None, limit=None)

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

initial_position: Default joint position for this joint axis.
xyz: Represents the x,y,z components of the axis unit vector.

The axis is expressed in the joint frame unless a different frame is expressed in the expressed_in attribute. 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.


Nested Elements

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

v17.joint.Joint.Axis2.Dynamics([damping, ...])

An element specifying physical properties of the joint.

v17.joint.Joint.Axis2.Limit([lower, upper, ...])


v17.joint.Joint.Axis2.Xyz([value, expressed_in])