307_forward_kinematics_ros_loader.py

from compas_fab.backends import RosClient

from compas.robots import Configuration

with RosClient("localhost") as client:
    robot = client.load_robot()

    configuration = Configuration.from_revolute_values(
        [-2.238, -1.153, -2.174, 0.185, 0.667, 0.0]
    )

    frame_WCF = robot.forward_kinematics(configuration)

    print("Frame in the world coordinate system")
    print(frame_WCF)