Compute the transfrom from tool flange to tool center point
Posted: Mon May 02, 2022 7:58 am
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
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