PyBulletForwardKinematics.forward_kinematics

PyBulletForwardKinematics.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 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

The planning group used for determining the end effector and labeling the configuration. Defaults to the robot’s main planning group.

optionsdict, optional

Dictionary containing the following key-value pairs:

"link": (str, optional) The name of the link to calculate the forward kinematics for. Defaults to the end effector.
"check_collision": (str, optional) When True, compas_fab.backends.PyBulletClient.check_collisions() will be called. Defaults to False.

Returns:

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