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.

Note that unlike other backend features, inverse_kinematics produces a generator.

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.

Yields

tuple of list – A tuple of 2 elements containing a list of joint positions and a list of matching joint names.