ToolModel.forward_kinematics
-
ToolModel.
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)