path_ik Namespace Reference

Classes
class	PartialPathError

Functions
list[ndarray]	path_ik (RobotState robot_state, JointModelGroup group, list[str] tip_links, list[ndarray] reference_path, PathIKOptions|None options=None)

Function Documentation

path_ik()

list[ndarray] path_ik.path_ik	(	RobotState	robot_state,
		JointModelGroup	group,
		list[str]	tip_links,
		list[ndarray]	reference_path,
		PathIKOptions | None	options = None
	)

Compute a joint-space path that follows the given Cartesian reference path using inverse kinematics.
Args:
    robot_state: The initial robot state
    group: The name of the planning group to use for IK.
    tip_link: The name of the tip link for the IK chain.
    reference_path: A list of Cartesian poses (or waypoints) to follow.
    options (PathIKOptions, optional): Additional options for path IK. If None, defaults are used.
Returns:
    list: A list of joint-space states corresponding to the reference path.
Raises:
    PartialPathError: If the IK solver cannot compute a solution for the entire path. The exception contains
        the partial path that was successfully computed before failure.
    Message: If other errors occur during IK computation.