novaphy.forward_kinematics

Compute link transforms from generalized coordinates q.

def forward_kinematics(joints: list[Joint], q: np.ndarray) -> list[Transform]

Parameters

Parameter	Description
joints	Per-link joint descriptors (parent-before-child order).
q	Generalized position vector (length sum(joint.num_q())).

Returns

List of world / local link transforms in joint order.

Example

import novaphy
transforms = novaphy.forward_kinematics(joints, q)

See Also

• Joint
• forward_link_velocities()
• eval_fk()