ToolModel.forward_kinematics

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

Calculate the robot’s forward kinematic.

Parameters

  • :class:`compas.robots.Configuration` or 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

>>> config = robot.random_configuration()
>>> frame_WCF = robot.forward_kinematics(config)