started robot scene graph
@@ -2022,6 +2022,19 @@ class Robot(ABC, DynamicsMixin, IKMixin):
return Ain, Bin
+ # --------------------------------------------------------------------- #
+ # Scene Graph section
+ # --------------------------------------------------------------------- #
+
+ def _update_link_tf(self, q: ArrayLike = None):
+ """
+ This private method updates the local transform of each link within
+ this robot according to q (or self.q if q is none)
+ """
+ pass
+
+ # --------------------------------------------------------------------- #
+
if __name__ == "__main__":
