ForwardKinematics.forward_kinematics

ForwardKinematics.forward_kinematics(robot, configuration, group=None, options=None)[source]

Calculate the robot’s forward kinematic.

Parameters:
robotcompas_fab.robots.Robot

The robot instance for which forward kinematics is being calculated.

configurationcompas_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

The name of the group to be used in the calculation.

optionsdict, optional

Dictionary containing kwargs for arguments specific to the client being queried.

Returns:
Frame

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