Merge pull request #332 from tahsinkose/tahsin/fix-get-link-transform

Fix get_link_transform API method
2024-07-12 07:52:54 -07:00
parent 0c122a3353 ba4e57ede9
commit 2ae381f328
2 changed files with 7 additions and 1 deletions
--- a/src/curobo/cuda_robot_model/cuda_robot_model.py
+++ b/src/curobo/cuda_robot_model/cuda_robot_model.py
@@ -412,7 +412,7 @@ class CudaRobotModel(CudaRobotModelConfig):
        return mesh

    def get_link_transform(self, link_name: str) -> Pose:
-        mat = self._kinematics_config.fixed_transforms[self._name_to_idx_map[link_name]]
+        mat = self.kinematics_config.fixed_transforms[self.kinematics_config.link_name_to_idx_map[link_name]]
        pose = Pose(position=mat[:3, 3], rotation=mat[:3, :3])
        return pose