ToolModel.forward_kinematics
- ToolModel.forward_kinematics(joint_state, link_name=None)[source]
Calculate the robot’s forward kinematic.
- Parameters:
- joint_state
Configuration
| dict[str, float] A configuration instance or a dictionary with joint names and joint values in radians and meters (depending on the joint type).
- link_namestr, optional
The name of the link we want to calculate the forward kinematics for. Defaults to the end-effector link name.
- joint_state
- Returns:
Frame
The frame at the end-effector link in the world coordinate system.
Examples
>>> robot = RobotModel.ur5() >>> config = robot.zero_configuration() >>> frame = robot.forward_kinematics(config) >>> frame.point Point(x=0.817, y=0.191, z=-0.005) >>> frame.xaxis Vector(x=-0.000, y=1.000, z=0.000) >>> frame.yaxis Vector(x=1.000, y=0.000, z=0.000)