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_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.

  • group (str, optional) – The name of the group to be used in the calculation.

  • options (dict, optional) – Dictionary containing kwargs for arguments specific to the client being queried.

Returns

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