RobotModel.compute_transformations

RobotModel.compute_transformations(joint_state, link=None, parent_transformation=None)

Recursive function to calculate the transformations of each joint.

Parameters:

joint_stateConfiguration | dict[str, float]

A configuration instance or a dictionary with joint names and joint values in radians and meters (depending on the joint type).

linkLink, optional

Link instance to calculate the child joint’s transformation.

parent_transformationTransformation, optional

The transfomation of the parent joint. Defaults to the identity matrix.

Returns:

dict[str, Transformation]

A dictionary with the joint names as keys and values are the joint’s respective transformation.

Examples

>>> robot = RobotModel.ur5()
>>> config = robot.random_configuration()
>>> transformations = robot.compute_transformations(config)