IK_QP.solve(ets, Tep, q0=None)

Solves the IK problem

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

Return type:



  • q – The joint coordinates of the solution (ndarray). Note that these will not be valid if failed to find a solution

  • success – True if a valid solution was found

  • iterations – How many iterations were performed

  • searches – How many searches were performed

  • residual – The final error value from the cost function

  • jl_valid – True if q is inbounds of the robots joint limits

  • reason – The reason the IK problem failed if applicable