Added joint angle

jhavl · jhavl · commit d63e587cbe5e · 2020-04-30T22:19:02.000+10:00
diff --git a/rtb/robot/ets.py b/rtb/robot/ets.py
@@ -58,6 +58,9 @@ def __init__(
         # Number of joints in the robot
         self._n = len(self._q_idx)
 
+        # Current joint angles of the robot
+        self._q = np.zeros((self._n,))
+
     @classmethod
     def dh_to_ets(cls, robot):
         """
@@ -119,6 +122,10 @@ def dh_to_ets(cls, robot):
             robot.base,
             robot.tool)
 
+    @property
+    def q(self):
+        return self._q
+
     @property
     def name(self):
         return self._name
