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_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: 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: