Get the actual position of bone (head and tail) even when armature is rotated

Question

I would like to know if it is possible to get the real coordinates of a bone's head and tail when the armature is rotated. I already got something working with translations of armature but can't figure out how to do it when a rotation is applied.

To demonstrate what I want I created two cubes that will be moved to the bone's head and tail. Here is the code :

import bpy
armature = bpy.data.objects["Armature"]
bname = 'bone_2'
bone = armature.pose.bones[bname]

tail = bone.tail + armature.location
head = bone.head + armature.location


bpy.data.objects['head'].location = head
bpy.data.objects['tail'].location = tail

And here is the result without rotation and with rotation:

Thanks for your help!

Answer 1

Use matrix instead of position:

import bpy
armature = bpy.data.objects["Armature"]
bname = 'bone_2'
bone = armature.pose.bones[bname]

tail = armature.matrix_world @ bone.tail 
head = armature.matrix_world @ bone.head 


bpy.data.objects['head'].location = head
bpy.data.objects['tail'].location = tail