How can I control the robot using FK ?

[pml07]

Hi,
because the examples of part 2 and part 3 are all control the robot using IK,
I wonder that if I can control the robot using FK
(like create a C# script to give the position of 6-axis of robot, then I can command some lines to execute the scripts)
eg. let forearm_link moves to (x,y,z) = (0.216, 1.105, -0.157) & arm_link moves to (x,y,z) = (0.0, 0.08, 0.0) & ....
or
eg. let wrist_link rotates angles (a,b,c) = (90, 0, 0) & ....

Environment:
OS: windows 10
ROS workspace is under docker

best wishes!

[bennyp7811]

did you find a way?