InverseKinematics.inverse_kinematics
-
InverseKinematics.
inverse_kinematics
(robot, frame_WCF, start_configuration=None, group=None, options=None)[source] Calculate the robot’s inverse kinematic for a given frame.
- Parameters
robot (
compas_fab.robots.Robot
) – The robot instance for which inverse kinematics is being calculated.frame_WCF (
compas.geometry.Frame
) – The frame to calculate the inverse for.start_configuration (
compas_fab.robots.Configuration
, optional)group (str, optional) – The planning group used for calculation.
options (dict, optional) – Dictionary containing kwargs for arguments specific to the client being queried.
- Returns
tuple
oflist
– A tuple of 2 elements containing a list of joint positions and a list of matching joint names.