novaphy.Axis¶
Coordinate-axis enumeration used by joint and shape APIs that accept a named axis (joint actuation axis, cylinder axis, mass moment axis, …). Convert to a unit vector with axis_to_vec3.
| Member | Vector |
|---|---|
X |
(1, 0, 0) |
Y |
(0, 1, 0) |
Z |
(0, 0, 1) |
Example¶
import novaphy
dof_axis = novaphy.Axis.Z
v = novaphy.axis_to_vec3(dof_axis)
# v == np.array([0.0, 0.0, 1.0], dtype=np.float32)
cfg = novaphy.JointDofConfig()
cfg.axis = novaphy.Axis.Z
Notes¶
- NovaPhy uses Y-up by default;
Axis.Zis most often the joint axis, not the world-up axis. - The integer values are stable across releases — safe to serialize.