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 to True.

  • "constraints": (list of compas_fab.robots.Constraint, optional) A set of constraints that the request must obey. Defaults to None.

  • "attempts": (int, optional) The maximum number of inverse kinematic attempts. Defaults to 8.

  • "attached_collision_meshes": (list of compas_fab.robots.AttachedCollisionMesh, optional) Defaults to None.

Raises

compas_fab.backends.exceptions.BackendError – If no configuration can be found.

Returns

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