A cylindrical joint — the child both rotates about and slides along a single axis (2 DOF). DOF order: [rotation, translation]. The two motions share the axis, so they commute; rotation pivots about axis.origin.
axis
[rotation, translation]
axis.origin
A cylindrical joint — the child both rotates about and slides along a single
axis(2 DOF). DOF order:[rotation, translation]. The two motions share the axis, so they commute; rotation pivots aboutaxis.origin.