def __init__(self, name: str, joint: Joint, mesh: Mesh,
color: Iterable[float]) -> None:
# TODO: Mass/density
# Previous links DH frame transformation
self.previous = Transform.Identity()
self.joint = joint
self.name = name
self.mesh = mesh
self.color = color
self._properties = PhysicalProperties()
def test_immovable_is_identity_transform(self):
joint = Joint.Immovable()
self.assertEqual(joint.transform.dual, Transform.Identity().dual)