`rofunc.utils.robolab.kinematics.fk`#

1. Module Contents#

`get_fk_from_chain`	Get the forward kinematics from a serial chain :param chain: :param joint_value: :param export_link_name: :return: the pose of the end effector, and the transformation matrices of all links
`get_fk_from_model`	Get the forward kinematics from a URDF or MuJoCo XML file :param model_path: the path of the URDF or MuJoCo XML file :param joint_value: the value of the joints :param export_link: the name of the end effector link :param verbose: whether to print the chain :return: the pose of the end effector, and the transformation matrices of all links

rofunc.utils.robolab.kinematics.fk.get_fk_from_chain(chain, joint_value, export_link_name=None)[source]#: Get the forward kinematics from a serial chain :param chain: :param joint_value: :param export_link_name: :return: the pose of the end effector, and the transformation matrices of all links

rofunc.utils.robolab.kinematics.fk.get_fk_from_model(model_path: str, joint_value, export_link=None, verbose=False)[source]#: Get the forward kinematics from a URDF or MuJoCo XML file :param model_path: the path of the URDF or MuJoCo XML file :param joint_value: the value of the joints :param export_link: the name of the end effector link :param verbose: whether to print the chain :return: the pose of the end effector, and the transformation matrices of all links