RobotModel.forward_kinematics

RobotModel.forward_kinematics(joint_state, link_name=None)[source]

Calculate the robot’s forward kinematic.

Parameters

• joint_state (dict) – A dictionary with the joint names as keys and values in radians and meters (depending on the joint type).

• link_name (str, optional) – The name of the link we want to calculate the forward kinematics for. Defaults to the end-effector link name.

Returns

Frame – The (ee) link’s frame in the world coordinate system.

Examples

>>> names = robot.get_configurable_joint_names()
>>> values = [-2.238, -1.153, -2.174, 0.185, 0.667, 0.000]
>>> joint_state = dict(zip(names, values))
>>> frame_WCF = robot.forward_kinematics(joint_state)