ForwardKinematics.forward_kinematics
- ForwardKinematics.forward_kinematics(robot, configuration, group=None, options=None)[source]
Calculate the robot’s forward kinematic.
- Parameters:
- robot
compas_fab.robots.Robot
The robot instance for which forward kinematics is being calculated.
- configuration
compas_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.
- robot
- Returns:
Frame
The frame in the world’s coordinate system (WCF).