4)&nbsp;*&nbsp;Ty(L5)&nbsp;*&nbsp;Tz(L6)
</pre>
<h2>Operation methods</h2>
<p>
fkine

</p>
<h2>Information methods</h2>
<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> isjoint</td> <td>test if transform is a joint</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> njoints</td> <td>the number of joint variables</td></tr>
</table>
<p>
structure  a string listing the joint types

</p>
<h2>Display methods</h2>
<table class="list">
  <tr><td style="white-space: nowrap;" clas