pin

import pinocchio as pin import numpy as np # Create a default model (e.g., a simple 6-DOF manipulator) model = pin.buildSampleModel() # Create a data structure for algorithm buffering data = model.createData() # Generate a random configuration q = pin.randomConfiguration(model) # Compute forward kinematics pin.forwardKinematics(model, data, q) pin.updateFramePlacements(model, data) # Print the position of the end-effector frame (last frame in the model) # (Note: model.frames is a list of all frames, data.oMf[frame.id] is its placement) end_effector_frame_id = model.frames[-1].body end_effector_position = data.oMf[end_effector_frame_id].translation print(f"Model name: {model.name}") print(f"Random configuration (q): {q.T}") print(f"End-effector position: {end_effector_position.T}")