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Fix get_link_transform method in CudaRobotModel.

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Tahsincan Köse
2024-07-10 12:32:47 +03:00
parent 1dc81627bc
commit ba4e57ede9
1 changed files with 1 additions and 1 deletions
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src/curobo/cuda_robot_model/cuda_robot_model.py
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@@ -412,7 +412,7 @@ class CudaRobotModel(CudaRobotModelConfig):
return mesh return mesh
def get_link_transform(self, link_name: str) -> Pose: 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]) pose = Pose(position=mat[:3, 3], rotation=mat[:3, :3])
return pose return pose