Add motor properties to the appropriate soy.joints (Ball, Universal, etc) which creates the AMotor for that joint when one or more angular axis are defined. Then create soy.actions.Drive which powers the specified axis, and lastly create a short demo for how to use it in examples/

Ensure that axis can be removed and the AMotor associated with the joint is removed along with the last axis and during joint destruction. Also ensure that any Drive action specified to use an axis which is removed does nothing rather than segfaulting or locking up the simulation.

There should be sufficient example code between soy.joints, soy.actions, and the ODE joints documentation to complete this task. Code must be done in Pyrex using the existing coding conventions.

The source can be obtained through svn co http://svn.pysoy.org/trunk/pysoy

Completion:

Commit the work to http://svn.pysoy.org/, attach your diff(s) to this task, and contact the ghop-python mailing list.

Relevant webpages:

• http://www.pysoy.org/browser/trunk/pysoy/src/joints
• http://www.pysoy.org/browser/trunk/pysoy/src/actions
• http://www.ode.org/ode-latest-userguide.html#sec_7_3_8

Task duration: please complete this task within 5 days (120 hours) of claiming it.

Changing status as per Leslie's email.