RobotModel.transformed_frames

RobotModel.transformed_frames(joint_state)

Returns the transformed frames 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[Frame]

Examples

>>> robot = RobotModel.ur5()
>>> config = robot.zero_configuration()
>>> config['shoulder_pan_joint'] = 1.2
>>> config['wrist_2_joint'] = 0.5
>>> ft = robot.transformed_frames(config)
>>> ft[1]
Frame(Point(0.000, 0.000, 0.089), Vector(0.362, 0.932, 0.000), Vector(-0.932, 0.362, 0.000))