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Merged
gonzalocasas merged 2 commits into from
Aug 13, 2026
Merged

Update 04_ik_allow_collision.py #481

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b8ad4c8
Update 04_ik_allow_collision.py
ardozcnn Aug 12, 2026
0fd8b3b
Update 04_ik_allow_collision.py
ardozcnn Aug 13, 2026
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16 changes: 10 additions & 6 deletions docs/backends/ros/files/04_ik_allow_collision.py
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Original file line number Diff line number Diff line change
@@ -1,3 +1,6 @@
from typing import Any
from typing import Dict

from compas.geometry import Box
from compas.geometry import Frame

Expand Down Expand Up @@ -25,15 +28,16 @@
# Create a target frame with the ROBOT mode
frame_WCF = Frame([0.3, 0.1, 0.5], [1, 0, 0], [0, 1, 0])
target = FrameTarget(frame_WCF, TargetMode.ROBOT)
print("Target frame with Robot Mode: {}".format(target))
print(f"Target frame with Robot Mode: {target}")

# Calculate inverse kinematics
def calculate(options):
def calculate(options: Dict[str, Any]) -> None:
"""Helper function to solve IK for the target frame and print the outcome."""
try:
configuration = planner.inverse_kinematics(target, start_state, options=options)
print(" Found configuration: ", configuration)
print(f" Found configuration: {configuration}")
except InverseKinematicsError as e:
print(" Failed to find a configuration: ", e)
print(f" Failed to find a configuration: {e}")

print("Inverse kinematics with collision check enabled: (by default)")
calculate({})
Expand All @@ -46,7 +50,7 @@ def calculate(options):
Output:
>>> Target frame with Robot Mode: FrameTarget(Frame(point=Point(x=0.300, y=0.100, z=0.500), xaxis=Vector(x=1.000, y=0.000, z=0.000), yaxis=Vector(x=0.000, y=1.000, z=0.000)), ROBOT)
>>> Inverse kinematics with collision check enabled: (by default)
>>> Failed to find a configuration: No inverse kinematics solution found.
>>> Failed to find a configuration: No inverse kinematics solution found.
>>> Inverse kinematics with collision check disabled:
>>> Found configuration: Configuration((-0.031, -2.025, 2.161, 4.576, -4.712, -1.540), (0, 0, 0, 0, 0, 0), ('shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'))
>>> Found configuration: Configuration((-0.031, -2.025, 2.161, 4.576, -4.712, -1.540), (0, 0, 0, 0, 0, 0), ('shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'))
"""