scene_synthesizer.utils.forward_kinematics

scene_synthesizer.utils.forward_kinematics(scene, joint_names=None, configuration=None)

Helper function to update the scene graph by running forward kinematics on all edges specified through joint_names.

Parameters:

• scene (trimesh.Scene) – Scene.

• joint_names (list[str], optional) – Names of joints to update. If None, use all joints. Defaults to None.

• configuration (list[float], optional) – Configurations. Needs to be same size as joint_names or None. If None will use configuration stored in graph. Defaults to None.