.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "examples/robolab/example_curi_forward_kinematics.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        :ref:`Go to the end <sphx_glr_download_examples_robolab_example_curi_forward_kinematics.py>`
        to download the full example code

.. rst-class:: sphx-glr-example-title

.. _sphx_glr_examples_robolab_example_curi_forward_kinematics.py:


CURI forward kinematics
========================

Forward kinematics and visualization of the CURI robot.

.. GENERATED FROM PYTHON SOURCE LINES 7-23

.. code-block:: default

    import os

    import numpy as np

    import rofunc as rf
    from rofunc.utils.oslab.path import get_rofunc_path

    urdf_path = os.path.join(get_rofunc_path(), 'simulator/assets/urdf/curi/urdf/curi.urdf')
    # urdf_path = os.path.join(get_rofunc_path(), 'simulator/assets/urdf/franka_description/robots/franka_panda.urdf')
    link_name, joint_name, actuated_joint_name = rf.robolab.check_urdf(urdf_path)

    joint_value = [0, 0, 0, 0, 0, 0, 0]
    joint_value = np.array(joint_value)
    robot, export_pose, cfg = rf.robolab.get_fk_from_model(urdf_path, actuated_joint_name, joint_value,
                                                           export_link='panda_left_link7')
    print(export_pose)


.. rst-class:: sphx-glr-timing

   **Total running time of the script:** (0 minutes 0.000 seconds)


.. _sphx_glr_download_examples_robolab_example_curi_forward_kinematics.py:

.. only:: html

  .. container:: sphx-glr-footer sphx-glr-footer-example




    .. container:: sphx-glr-download sphx-glr-download-python

      :download:`Download Python source code: example_curi_forward_kinematics.py <example_curi_forward_kinematics.py>`

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download Jupyter notebook: example_curi_forward_kinematics.ipynb <example_curi_forward_kinematics.ipynb>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_