Compute the transfrom from tool flange to tool center point

Post Reply
thibdx
Posts: 3
Joined: Thu Apr 07, 2022 2:14 pm

Compute the transfrom from tool flange to tool center point

Post by thibdx »

Hi,

I have a tooling that is specified in the URDF in several step.

There is 4 links, with 4 joins:

- Tool Flange
- Tooling base
- Tooling moving part
- Tool center point

Since one of the part can be moving, we have different URDF file that we load depending on the configuration.

I could store all the transform from Tool flange to Tool center point, but I would like to generate it from the URDF.

Is there a way to parse the URDF to find the different positions ? I found getLinkState to find the state of the link and the relative position to its predecessoir, but getJointState only returns the position as a float.

Thanks
Post Reply