def METHOD_NAME(self, end_effector_id: str, joints: list[Joint], arm_id: None | str = None) -> Pose:
    """Computes forward kinematics.
    :param end_effector_id: Target end effector name
    :param joints: Input joint values
    :return: Pose of the given end effector
    """
    if end_effector_id not in self.get_end_effectors_ids(arm_id):
        raise Arcor2Exception("Unknown end effector.")
    return Pose()