VrepPlanner.forward_kinematics

VrepPlanner.forward_kinematics(*args, **kwargs)[source]

Calculates forward kinematics to get the current end-effector pose.

Parameters

  • robot (compas_fab.robots.Robot) – The robot instance for which forward kinematics is being calculated.

  • configuration (None) – Unused parameter.

  • group (int) – Integer referencing the desired robot group.

  • options (dict) – Unused parameter.

Examples

>>> from compas_fab.robots import *
>>> from compas_fab.backends import VrepClient
>>> with VrepClient() as client:
...     frame = client.forward_kinematics(robot=None, configuration=None, group=0)
Returns

An instance of Frame.