InverseKinematics.inverse_kinematics

InverseKinematics.inverse_kinematics(robot, frame_WCF, start_configuration=None, group=None, options=None)

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

Note that unlike other backend features, inverse_kinematics produces a generator.

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

group: str, optional

The planning group used for calculation.

options: dict, optional

Dictionary containing kwargs for arguments specific to the client being queried.

Yields:

tuple of list

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