MoveItPlanner.forward_kinematics¶

MoveItPlanner.forward_kinematics(*args, **kwargs)[source]¶

Calculate the robot’s forward kinematic.

Parameters

• robot (compas_fab.robots.Robot) – The robot instance for which inverse 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) – Unused parameter.

• options (dict, optional) – Dictionary containing the following key-value pairs:

  • "base_link": (str) Name of the base link. Defaults to the model’s root link.

  • "link": (str, optional) The name of the link to calculate the forward kinematics for. Defaults to the group’s end effector link. Backwards compatibility note: if there’s no link option, the planner will try also ee_link as fallback before defaulting to the end effector’s link.

Returns

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