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": (listoffloat) 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"; (listoffloat) 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": (listoffloat) 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 toNoneto retry infinitely."max_results": (int) Maximum number of results to return. Defaults to100.
- Yields