Robot.forward_kinematics_robot_model

Robot.forward_kinematics_robot_model(configuration, group=None, link_name=None)[source]

Calculate the robot’s forward kinematic with the robot model.

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.

• link_name (str) – The name of the link to calculate the forward kinematics for. Defaults to the group’s end effector link.

Examples

>>> configuration = Configuration.from_revolute_values([-2.238, -1.153, -2.174, 0.185, 0.667, 0.000])
>>> group = robot.main_group_name
>>> frame_WCF = robot.forward_kinematics(configuration, 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))