novaphy.ik.get_link_transforms¶
Evaluate forward kinematics and return world transforms for every selected link.
Parameters¶
| Parameter | Description |
|---|---|
art |
A finalized novaphy.Model, a JointBodyBundle, or a compatible joint/body source accepted by that bundle. |
q |
Joint configuration; converted to a flat float32 array. |
The helper evaluates novaphy.eval_fk with zero joint velocities. For a
Model, the result contains every model body in body-index order. For a
bundle or compatible source, it contains only the bundle's body indices.