RobotModel.find_parent_joint

RobotModel.find_parent_joint(link)[source]

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

Parameters:
linkLink

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'