ToolModel.compute_transformations
- ToolModel.compute_transformations(joint_state, link=None, parent_transformation=None)[source]
Recursive function to calculate the transformations of each joint.
- Parameters:
- joint_state
Configuration
| dict[str, float] A configuration instance or a dictionary with joint names and joint values in radians and meters (depending on the joint type).
- link
Link
, optional Link instance to calculate the child joint’s transformation.
- parent_transformation
Transformation
, optional The transfomation of the parent joint. Defaults to the identity matrix.
- joint_state
- Returns:
- dict[str,
Transformation
] A dictionary with the joint names as keys and values are the joint’s respective transformation.
- dict[str,
Examples
>>> robot = RobotModel.ur5() >>> config = robot.random_configuration() >>> transformations = robot.compute_transformations(config)