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