jaxsim.rbda.forward_kinematics

jaxsim.rbda.forward_kinematics#

jaxsim.rbda.forward_kinematics(model, link_index, base_position, base_quaternion, joint_positions)[source]#

Compute the forward kinematics of a specific link.

Parameters:

  • model (JaxSimModel) – The model to consider.

  • link_index (Array) – The index of the link to consider.

  • base_position (Union[Array, ndarray, bool, number, bool, int, float, complex, tuple]) – The position of the base link.

  • base_quaternion (Union[Array, ndarray, bool, number, bool, int, float, complex, tuple]) – The quaternion of the base link.

  • joint_positions (Union[Array, ndarray, bool, number, bool, int, float, complex, tuple]) – The positions of the joints.

Return type:

Array

Returns:

The SE(3) transform of the link.

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