RobotModel.transformed_frames

RobotModel.transformed_frames(joint_state)

Returns the transformed frames based on the joint_state.

Parameters

:class:`compas.robots.Configuration` or joint_state (dict) – A dictionary with the joint names as keys and values in radians and meters (depending on the joint type).

Returns

list of Frame

Examples

>>> joint_names = robot.get_configurable_joint_names()
>>> values = [1.2, 0.5]
>>> joint_state = dict(zip(joint_names, values))
>>> frames_transformed = robot.transformed_frames(joint_state)
>>> frames_transformed[0]
Frame(Point(0.000, 0.000, 0.000), Vector(0.362, 0.932, 0.000), Vector(-0.932, 0.362, 0.000))