pytransform3d.urdf.Joint

class pytransform3d.urdf.Joint[source]

Bases: object

Joint from URDF file.

This class is only required temporarily while we parse the URDF.

Attributes
childstr

Name of the child

parentstr

Name of the parent frame

child2parentarray-like, shape (4, 4)

Transformation from child to parent

joint_namestr

Name of the joint that defines the transformation

joint_axisarray-like, shape (3,)

Rotation axis of the joint (defined in the child frame)

joint_typestr

Either ‘fixed’ or ‘revolute’

limitspair of float

Lower and upper joint angle limit

__init__()[source]

Initialize self. See help(type(self)) for accurate signature.

Methods

__init__()

Initialize self.

Examples using pytransform3d.urdf.Joint