InverseKinematics.inverse_kinematics
- InverseKinematics.inverse_kinematics(robot, frame_WCF, start_configuration=None, group=None, options=None)[source]
Calculate the robot’s inverse kinematic for a given frame.
Note that unlike other backend features, inverse_kinematics produces a generator.
- 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_robots.Configuration
, optional - groupstr, optional
The planning group used for calculation.
- optionsdict, optional
Dictionary containing kwargs for arguments specific to the client being queried.
- robot
- Yields: