Franka Kinematics at Controller Level

[jcarpinelli-bdai]

Today, the FrankaRobotModel class provides users forward kinematics utility functions which operate at the hardware level. This works when used in ROS 2 controllers which accept true Franka hardware, but does not work for simulated Franka arms. Is there some way to compute Franka kinematics using user-provided positions? I would be interested in helping to contribute this, if not.