mechanisms.coordinates.joints¶

Joint coordinates of the robot, and states of virtual degrees of freedom.

Classes

`Joint`(index[, unit])	Entries of the robot's generalized coordinates q: an index, a slice or a list of indices.
`MotorAngle`(actuation, indices)	Entries of the robot's motor angles θ(q) [rad], as its actuation gives them: positive when a motor pulls a tendon.
`State`(name[, dim, unit, initial])	Position of a virtual degree of freedom owned by a controller (part of its state z).