twizy_description/src/twizy_description/robot_description.py
def connect_link(self, link, trans=np.identity(4)):
        """Connect a link (as a child) to this joint"""

        self.name = f'{link.name}_joint'

        # If the relative position/rotation of the provided link is zero we can
        # connect the link directly to this joint, otherwise we need another
        # link to sit right where this joint ends which then connects to the
        # provided link through another joint
        if np.allclose(xyz_rpy(trans), 0):
            self.child = link
        else:
            joint_link = _URDFLink(f'{self.name}_link')
            joint_link.connect_link(link, trans)
            self.child = joint_link
Connect a link (as a child) to this joint
Connect a link (as a child) to this joint
Connect a link ( as a child ) to this joint
def connect_link(self, link, trans=np.identity(4)):
        self.name = f'{link.name}_joint'
        if np.allclose(xyz_rpy(trans), 0):
            self.child = link
        else:
            joint_link = _URDFLink(f'{self.name}_link')
            joint_link.connect_link(link, trans)
            self.child = joint_link
def connect_link ( self , link , trans = np . identity ( 4 ) ) : self . name = f'{link.name}_joint' if np . allclose ( xyz_rpy ( trans ) , 0 ) : self . child = link else : joint_link = _URDFLink ( f'{self.name}_link' ) joint_link . connect_link ( link , trans ) self . child = joint_link
Connect a link (as a child) to this joint
Connect a link ( as a child ) to this joint
"""Connect a link (as a child) to this joint""" # If the relative position/rotation of the provided link is zero we can # connect the link directly to this joint, otherwise we need another # link to sit right where this joint ends which then connects to the # provided link through another joint
self
link
trans