MoveItPlanner.forward_kinematics

MoveItPlanner.forward_kinematics(robot, configuration, group=None, options=None)

Calculate the robot’s forward kinematic.

Parameters:

robotcompas_fab.robots.Robot

The robot instance for which inverse kinematics is being calculated.

configurationcompas_fab.robots.Configuration

The full configuration to calculate the forward kinematic for. If no full configuration is passed, the zero-joint state for the other configurable joints is assumed.

groupstr, optional

Unused parameter.

optionsdict, optional

Dictionary containing the following key-value pairs:

• "base_link": (str) Name of the base link. Defaults to the model’s root link.

• "link": (str, optional) The name of the link to calculate the forward kinematics for. Defaults to the group’s end effector link. Backwards compatibility note: if there’s no link option, the planner will try also tool0 as fallback before defaulting to the end effector’s link.

Returns:

Frame

The frame in the world’s coordinate system (WCF).