VrepClient.inverse_kinematics

VrepClient.inverse_kinematics(robot, goal_frame, metric_values=None, gantry_joint_limits=None, arm_joint_limits=None, max_trials=None, max_results=1)[source]

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

Parameters

  • robot (compas_fab.robots.Robot) – Robot instance.

  • goal_frame (Frame) – Target or goal frame.

  • 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.