> ## Documentation Index
> Fetch the complete documentation index at: https://docs.generalrobotics.dev/llms.txt
> Use this file to discover all available pages before exploring further.

# UR5e Forward Kinematics

> Batch forward kinematics for UR5e robot arm

Compute forward kinematics for a batch of UR5e joint configurations using PyRoKi.

## Parameters

<ParamField body="batch_joint_states" type="np.ndarray | List[List[float]]" required>
  Batch of joint configurations of shape `(N, 7)`. Can also be a path to a `.npy` file.
</ParamField>

<ParamField body="timeout" type="float | None">
  Optional HTTP timeout.
</ParamField>

## Returns

`dict` with keys:

* `output` — Array of end-effector poses `(N, 7)` in `wxyz_xyz` format (quaternion wxyz + position xyz)
* `latency_ms` — Processing time in milliseconds

## Example

```python theme={null}
from grid_cortex_client import CortexClient
import numpy as np

client = CortexClient()
batch_joint_states = np.random.uniform(-1.0, 1.0, size=(20, 7)).astype(np.float32)
result = client.run(
    model_id="ur5e-pyroki-fk",
    batch_joint_states=batch_joint_states,
)
poses = result["output"]
print(poses.shape)  # (20, 7) — wxyz quaternion + xyz position
```