Ikin.srv
Features
This service returns the joint position corresponding to sol_space, which is equivalent to the robot pose in the operating space, among 8 joint shapes.
Parameters
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
pos | float64[6] | - | position list |
sol_space | int | - | solution space |
ref | int | 0 | ž MOVE_REFERENCE_BASE =0 ž MOVE_REFERENCE_WORLD=2 |
Note
The ref argument is only available in M2.40 or later versions.
Robot configuration vs. solution space
Solution space | Binary | Shoulder | Elbow | Wrist |
|---|---|---|---|---|
0 | 000 | Lefty | Below | No Flip |
1 | 001 | Lefty | Below | Flip |
2 | 010 | Lefty | Above | No Flip |
3 | 011 | Lefty | Above | Flip |
4 | 100 | Righty | Below | No Flip |
5 | 101 | Righty | Below | Flip |
6 | 110 | Righty | Above | No Flip |
Return
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
conv_posj | float64[6] | - | joint angle list |
success | bool | - | True or False |