ToolModel.forward_kinematics
- ToolModel.forward_kinematics(joint_state, link_name=None)[source]
Calculate the robot’s forward kinematic.
- Parameters
joint_state (
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))