RobotModel.transformed_axes

RobotModel.transformed_axes(joint_state)

Returns the transformed axes based on the joint_state.

Parameters

joint_state (compas.robots.Configuration | dict[str, float]) – A configuration instance or a dictionary with joint names and joint values in radians and meters (depending on the joint type).

Returns

list[Vector]

Examples

>>> robot = RobotModel.ur5()
>>> config = robot.zero_configuration()
>>> config['shoulder_pan_joint'] = 1.2
>>> config['wrist_2_joint'] = 0.5
>>> at = robot.transformed_axes(config)
>>> at[3]
Vector(-0.932, 0.362, 0.000)