IKSolver.solve

IKSolver.solve(ets, Tep, q0=None)[source]

Solves the IK problem

Parameters:

ets (ETS) – The ETS representing the manipulators kinematics
Tep (SE3 | ndarray) – The desired end-effector pose
q0 (Union[ndarray, List[float], Tuple[float, ...], None]) – The initial joint coordinate vector

Returns:

An IKSolution containing joint coordinates q, success flag, iterations, searches, residual error value, and reason string if applicable

Return type:

IKSolution

This method will attempt to solve the IK problem and obtain joint coordinates which result the the end-effector pose Tep.