ToolModel.find_parent_joint

ToolModel.find_parent_joint(link)

Returns the parent joint of the link or None if not found.

Parameters

link (Link) – The link of which we want to know the parent joint.

Returns

Joint – The parent joint of the link.

Examples

>>> robot = RobotModel.ur5()
>>> j = robot.find_parent_joint(Link('shoulder_link'))
>>> j.name
'shoulder_pan_joint'