def calculate_fixed_transformation(self, position): """Returns an identity transformation. The fixed joint is is not really a joint because it cannot move. All degrees of freedom are locked. """ return Transformation()
def init_transformation(self): if self.init_origin: return Transformation.from_frame(self.init_origin) else: return Transformation()
def current_transformation(self): if self.origin: return Transformation.from_frame(self.origin) else: return Transformation()