pybullet_planning.interfaces.kinematics.get_ik_tool_link_pose

pybullet_planning.interfaces.kinematics.get_ik_tool_link_pose(fk_fn, robot, ik_joints, base_link, joint_values=None, use_current=False)

Use the given forward_kinematics function to compute ik_tool_link pose based on current joint configurations in pybullet.

Note: The resulting FK pose is relative to the world frame, not the robot’s base frame.

Parameters

• fk_fn (function handle) – fk(a 6-list) : point, rot_matrix

• robot (pybullet robot)

• ik_joint (list of int) – a list of pybullet joint index that is registered for IK/FK can be obtained by e.g.: ik_joints = joints_from_names(robot, ik_joint_names)

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

• joint_values (list of float) – robot joint values for FK computation, value correponds to ik_joint_names, default to None

• use_current (bool) – if true, use the current configuration in pybullet env for FK, default to False

Returns

pybullet Pose – Pose = (point, quat) = ([x,y,z], [4-list])