skrobot.planner.utils.get_robot_config¶

skrobot.planner.utils.get_robot_config(robot_model, joint_list, with_base=False)[source]¶

A utility function for getting robot state

Parameters:

robot_model (skrobot.model.CascadedLink) – robot model
joint_list (list[Joint]) – joint list of which you want to know the angles
with_base (bool) – If set to True, base position is also computed.

Returns:

av_whole (or av_joint) – angle vector. If with_base=False, n_dof is the number of joints n_joint, but if with_base=True, n_dof = n_joint + 3.

Return type:

numpy.ndarray(n_dof,)