Source code for bosdyn.client.inverse_kinematics

# Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.
# Downloading, reproducing, distributing or otherwise using the SDK Software
# is subject to the terms and conditions of the Boston Dynamics Software
# Development Kit License (20191101-BDSDK-SL).

"""A client for the inverse-kinematics service."""

from import InverseKinematicsRequest
from import InverseKinematicsServiceStub
from bosdyn.client.common import BaseClient, common_header_errors

[docs]class InverseKinematicsClient(BaseClient): """Client to request inverse kinematics solutions.""" # Name of the service in the robot's directory listing. default_service_name = 'inverse-kinematics' # gRPC service proto definition implemented by this service service_type = '' def __init__(self): super(InverseKinematicsClient, self).__init__(InverseKinematicsServiceStub)
[docs] def inverse_kinematics(self, request: InverseKinematicsRequest, **kwargs): """ Request an IK solution. Args: request (InverseKinematicsRequest): Request to issue Returns: The InverseKinematicsResponse message """ return, request, error_from_response=common_header_errors, **kwargs)
[docs] def inverse_kinematics_async(self, request: InverseKinematicsRequest, **kwargs): """Async version of inverse_kinematics()""" return self.call_async(self._stub.InverseKinematics, request, error_from_response=common_header_errors, **kwargs)