Is there an interface for computing Forward Kinematics in Genesis?

[yilin404]

I hope you are doing well. I am currently working with the Genesis framework for robotic simulations, and I am trying to compute the forward kinematics (FK) of a robotic arm. I have reviewed the documentation but could not find any direct mention of an interface or function for performing forward kinematics calculations. Could you kindly confirm whether Genesis provides an API or method to compute forward kinematics? If such functionality exists, could you please share any relevant documentation, code examples, or guidelines to help integrate this into my project? Thank you very much for your time and assistance. I look forward to your response.