PyBulletPlanner.inverse_kinematics

PyBulletPlanner.inverse_kinematics(robot, frame_WCF, start_configuration=None, group=None, options=None)[source]

Calculate the robot’s inverse kinematic for a given frame.

Parameters:
robotcompas_fab.robots.Robot

The robot instance for which inverse kinematics is being calculated.

frame_WCF: :class:`compas.geometry.Frame`

The frame to calculate the inverse for.

start_configuration: :class:`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 determining the end effector and labeling the start_configuration. Defaults to the robot’s main planning group.

options: dict, optional

Dictionary containing the following key-value pairs:

  • "link_name": (str, optional ) Name of the link for which to compute the inverse kinematics. Defaults to the given group’s end effector.

  • "semi-constrained": (bool, optional) When True, only the position and not the orientation of frame_WCF will not be considered in the calculation. Defaults to False.

  • "enforce_joint_limits": (bool, optional) When False, the robot’s joint limits will be ignored in the calculation. Defaults to True.

  • "high_accuracy": (bool, optional) When True, the solver will iteratively try to approach minimum deviation from the requested target frame. Defaults to True.

  • "high_accuracy_threshold": (float, optional) Defines the maximum acceptable distance threshold for the high accuracy solver. Defaults to 1e-6.

  • "high_accuracy_max_iter": (float, optional) Defines the maximum number of iterations to use for the high accuracy solver. Defaults to 20.

  • "max_results": (int) Maximum number of results to return. Defaults to 100.

Yields:
tuple of list

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

Raises:
compas_fab.backends.InverseKinematicsError