Ali, the getTransform method is working correctly. But from the way you set the DH parameters, I assume you expect "theta offset" on joint angles 2 and 4.
% a alpha d theta
dhparams=[0.033 -pi/2 0.147 0;
0.155 0 0 -pi/2; % theta offset?
0.135 0 0 0;
0 pi/2 0 pi/2; % theta offset?
0 0 0.218 0];
In the current setFixedTransform implementation, the theta offset is ignored for a revolute joint (similary, the d offset is ignored for a prismatic joint), and that is a documented behavior, see here. In the future, we may consider to allow user to specify the offsets to ease some of the practical use cases, but for now, there are two workarounds:
1) manually adding fixed bodies in between to account for these offsets.
2) Modify the config with the offsets. i.e. instead of
getTransform(robot,[0.1 0.1 0.1 0.1 0.1],'body5')
You do
getTransform(robot,[0.1 0.1-pi/2 0.1 0.1+pi/2 0.1],'body5')
