pybullet_planning.interfaces.kinematics.compute_inverse_kinematics

pybullet_planning.interfaces.kinematics.compute_inverse_kinematics(ik_fn, pose, sampled=[])[source]

compute ik solutions using the given ik function handle

Parameters

  • ik_fn (function handle) – get_ik(point, rot) : list of jt solutions point = [x,y,z] rot = 3x3 rotational matrix as a row-major list

  • pose (pybullet pose) – pose of the ik tool link

  • sampled (list) – a list of externally sampled solutions that wants to be appended to the computed ik solutions

Returns

a list of 6-lists – a list of ik solutions