RobotModel.transformed_axes

RobotModel.transformed_axes(joint_state)

Returns the transformed axes based on the joint_state.

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).

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(x=-0.932, y=0.362, z=0.000)