Robot.forward_kinematics
-
Robot.
forward_kinematics
(configuration, group=None, backend=None, link_name=None)[source] Calculate the robot’s forward kinematic.
- Parameters
configuration (
compas_fab.robots.Configuration
) – The configuration to calculate the forward kinematic for.group (str, optional) – The planning group used for the calculation. Defaults to the robot’s main planning group.
backend (None or str) – If None calculates fk with the client if it exists or with the robot model. If ‘model’ use the robot model to calculate fk. Anything else is open for implementation, possibly ‘kdl’, ‘ikfast’
link_name (str, optional) – The name of the link to calculate the forward kinematics for. Defaults to the group’s end effector link.
- Returns
Frame
– The frame in the robot’s coordinate system (RCF).
Examples
>>> configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.000]) >>> group = robot.main_group_name >>> frame_RCF_c = robot.forward_kinematics(configuration, group) >>> frame_RCF_m = robot.forward_kinematics(configuration, group, backend='model') >>> frame_RCF_c == frame_RCF_m True >>> frame_WCF = robot.to_world_coords(frame_RCF_m, group) >>> frame_WCF Frame(Point(0.300, 0.100, 0.500), Vector(1.000, -0.000, -0.000), Vector(0.000, 1.000, -0.000))