JointMimic¶

class urdfpy.JointMimic(joint, multiplier=None, offset=None)[source]¶

A mimicry tag for a joint, which forces its configuration to mimic another joint’s.

This joint’s configuration value is set equal to multiplier * other_joint_cfg + offset.

Parameters:	joint (str) – The name of the joint to mimic. multiplier (float) – The joint configuration multiplier. Defaults to 1.0. offset (float, optional) – The joint configuration offset. Defaults to 0.0.

Attributes Summary

`joint`	The name of the joint to mimic.
`multiplier`	The multiplier for the joint configuration.
`offset`	The offset for the joint configuration

Attributes Documentation

joint¶

The name of the joint to mimic.

Type:	float

multiplier¶

The multiplier for the joint configuration.

Type:	float

offset¶

The offset for the joint configuration

Type:	float