pybullet_planning.interfaces.kinematics.get_ik_generator

pybullet_planning.interfaces.kinematics.get_ik_generator(ik_fn, robot, base_link, world_from_tcp, ik_tool_link_from_tcp=None, **kwargs)[source]

get an ik generator

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

  • robot (pybullet robot)

  • base_link (int) – robot base link index, can be obtained from link_from_name(robot, base_link_name)

  • world_from_tcp (pybullet pose) – tcp pose in the world frame

  • ik_tool_link_from_tcp (pybullet pose) – tcp pose in ik tool link’s frame, optional, defaults = None

Returns

generator – use next() to get solutions