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