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
Methods
__init__
()