MoveItPlanner.inverse_kinematics
-
MoveItPlanner.
inverse_kinematics
(*args, **kwargs)[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) – If passed, the inverse will be calculated such that the calculated joint positions differ the least from the start_configuration. Defaults to the zero configuration.group (str, optional) – The planning group used for calculation. Defaults to the robot’s main planning group.
options (dict, optional) – Dictionary containing the following key-value pairs:
"base_link"
: (str
) Name of the base link. Defaults to the model’s root link."avoid_collisions"
: (bool
, optional) Whether or not to avoid collisions. Defaults toTrue
."constraints"
: (list
ofcompas_fab.robots.Constraint
, optional) A set of constraints that the request must obey. Defaults toNone
."attempts"
: (int
, optional) The maximum number of inverse kinematic attempts. Defaults to8
."attached_collision_meshes"
: (list
ofcompas_fab.robots.AttachedCollisionMesh
, optional) Defaults toNone
.
- Raises
compas_fab.backends.exceptions.BackendError – If no configuration can be found.
- Returns
tuple
oflist
– A tuple of 2 elements containing a list of joint positions and a list of matching joint names.