pybullet_planning.interfaces.kinematics.compute_forward_kinematics

pybullet_planning.interfaces.kinematics.compute_forward_kinematics(fk_fn, conf)[source]

use the given fk function to compute FK

Parameters

  • fk_fn (function handle)

  • conf (list) – joint values

Returns

  • pos (3-list) – [x,y,z] of the FK solution pose

  • quat (4-list) – quaternion of the FK solution pose