RobotModel.transformed_axes

RobotModel.transformed_axes(joint_state)[source]

Returns the transformed axes 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 Vector

Examples

>>> joint_names = robot.get_configurable_joint_names()
>>> values = [1.2, 0.5]
>>> joint_state = dict(zip(joint_names, values))
>>> robot.transformed_axes(joint_state)
[Vector(0.000, 0.000, 1.000), Vector(0.000, 0.000, 1.000)]