Get Coordinates of each joint

[amro]

Hello,

We have 12 xArm 7s and are trying to implement collision detection between them. Is it possible to get the coordinates of each individual joint of a specific xArm? I know we can calculate this using the DH parameters but if there is somewhere that already has this that would be easier.

Thanks!

[Daniel_Wang]

@amro

We have 12 xArm 7s and are trying to implement collision detection between them. Is it possible to get the coordinates of each individual joint of a specific xArm? I know we can calculate this using the DH parameters but if there is somewhere that already has this that would be easier.

Maybe the Pybullet can do that, but seems there still lots of works you have to do.