Obtain forward kinematic equation

[hksBRT]

If we have a URDF defining our robot, and are able to obtain the right end effector link position by feeding joint values, is there a way to obtain the underlying kinematic equation from pybullet? The relation from the base to the end effector?

[erwincoumans]

The forward kinematics are simply a multiplication of matrices. Those matrices are not exposed at the moment.
With "kinematic equation", do you mean exposing those matrices?

[hksBRT]

yes

[itechbear]

I want this feature too. It would be convenient to do math verifications if pybullet exposes such matrices/vectors.

[hejia-zhang]

I want this feature too. Have you found a way to obtain the forward kinematics equation?

[cmuell89]

Is there any way FK could be exposed in PyBullet to calculate the pose for an arbitrary link and arbitrary configuration of a robot manipulator?

[erwincoumans]

Doesn't resetJointState and getLinkState(ob, link, computeForwardKinematics=True) do this?
https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3

[cmuell89]

Hey Erwin. Yes I was literally about to come back and describe this is a viable alternative!