ToolModel.forward_kinematics

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

Calculate the robot’s forward kinematic.

Parameters

joint_state (compas.robots.Configuration | dict[str, float]) – A configuration instance or a dictionary with joint names and joint 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 frame at the end-effector link in the world coordinate system.

Examples

>>> robot = RobotModel.ur5()
>>> config = robot.zero_configuration()
>>> robot.forward_kinematics(config)
Frame(Point(0.817, 0.191, -0.005), Vector(-0.000, 1.000, 0.000), Vector(1.000, 0.000, 0.000))

ToolModel.forward_kinematics

COMPAS