Creating Frames from Joint Angles

Hi everyone,

I am trying to create X,Y,Z,A,B,C frames from Joint angles 1-7 with the 7kg payload robot.
Has anyone been able to find some sort of kinematic chain function in Sunrise.OS?
Any help is much appreciated.

Nevermind I figured it out.

if you have a JointPosition defined. You can use robot.getForwardKinematic to get the frame.