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doc:pycram:ik [2021/07/01 10:47] – created jdechdoc:pycram:ik [2021/07/01 12:24] (current) – jdech
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 In PyCRAM we use the KDL inverse kinematics solver to compute the joint positions for a respective chain of joints. In PyCRAM we use the KDL inverse kinematics solver to compute the joint positions for a respective chain of joints.
  
-==== IK in PyCRAM ==== +===== IK in PyCRAM ===== 
 In PyCRAM everything related to inverse kinematics is located in the ik.py. Mainly this is the 'request_ik' method which sends a service call over ROS to KDL and returns the resulting list of joint positions if there was a solution. If no solution could be found a 'IKError' will be raised which contains the position.  In PyCRAM everything related to inverse kinematics is located in the ik.py. Mainly this is the 'request_ik' method which sends a service call over ROS to KDL and returns the resulting list of joint positions if there was a solution. If no solution could be found a 'IKError' will be raised which contains the position. 
  
-=== request_ik === +==== request_ik ==== 
 The request ik method takes 5 parameter which can be seen along with a description in the table below: The request ik method takes 5 parameter which can be seen along with a description in the table below:
  
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 **Important** The target_pose_and_rotation has to be in the coordinate frame of the root_link. **Important** The target_pose_and_rotation has to be in the coordinate frame of the root_link.
 +
 +==== _make_request_msg ==== 
 +This is an method for internal use, it creates a ROS message of type PositionIKRequest. 
 +This method takes the same parameter as request_ik which can be seen above. 
 +
 +==== _get_position_for_all_joints ==== 
 +This method is for internal use only, it takes a robot object and returns a list of two list which contains the names off all joints and the poses of these joints. 
 +^ Parameter ^ Description ^ Type ^
 +| robot | The object representing a loaded robot | BulletWorld.Object |
 +
 +==== _get_positions_for_joints ==== 
 +This method is similar to _get_positions_for_all_joints but this method returns a list of joint positions for a given list of joint names. 
 +^ Parameter ^ Description ^ Type ^
 +| robot | The object representing a robot for which the joint positions should be found. | BulletWorld.Object| 
 +| joints | A list of joint names for which the positions should be found. | list|