VrepPlanner.inverse_kinematics

VrepPlanner.inverse_kinematics(*args, **kwargs)[source]

Calculates inverse kinematics to find valid robot configurations for the specified goal frame.

Parameters

  • robot (compas_fab.robots.Robot) – The robot instance for which inverse kinematics is being calculated.

  • frame_WCF (Frame) – Target or goal frame.

  • start_configuration (None) – Unused parameter.

  • group (int) – Integer referencing the desired robot group.

  • options (dict) – Dictionary containing the following key-value pairs:

    • "num_joints": (int) Number of configurable joints.

    • "metric_values": (list of float) List containing one value per configurable joint. Each value ranges from 0 to 1, where 1 indicates the axis/joint is blocked and cannot move during inverse kinematic solving.

    • "gantry_joint_limits"; (list of float) List of 6 floats defining the upper/lower limits of gantry joints. Use this if you want to restrict the area in which to search for states.

    • "arm_joint_limits": (list of float) List of 12 floats defining the upper/lower limits of arm joints. Use this if you want to restrict the working area in which to search for states.

    • "max_trials": (int) Number of trials to run. Set to None to retry infinitely.

    • "max_results": (int) Maximum number of result states to return.

Returns

list – List of Configuration objects representing the collision-free configuration for the goal_frame.