RobotModel.transformed_frames

RobotModel.transformed_frames(joint_state)

Returns the transformed Joint frames (relative to the Robot Coordinate Frame) based on the joint_state (Configuration).

The order of the frames is the same as the order returned by iter_joints().

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[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].point
Point(x=0.000, y=0.000, z=0.089)
>>> ft[1].xaxis
Vector(x=0.362, y=0.932, z=0.000)
>>> ft[1].yaxis
Vector(x=-0.932, y=0.362, z=0.000)