AnalyticalInverseKinematics

class compas_fab.backends.AnalyticalInverseKinematics(client=None, solver=None)[source]

Bases: compas_fab.backends.interfaces.backend_features.InverseKinematics

Callable to calculate the robot’s inverse kinematics for a given frame.

Parameters

• client (compas_fab.backends.interfaces.ClientInterface, optional) – The backend client to use for communication, for now only the compas_fab.backends.PyBulletClient is supported.

• solver (str, optional) – The solver to use to calculate IK.

Notes

This works only for industrial robot arms with six revolute joints and only with a client that supports "check_collision", so for now only the PyBulletClient.

Methods

__init__([client, solver])
inverse_kinematics(robot, frame_WCF[, ...])	Calculate the robot's inverse kinematic (IK) for a given frame.