308_inverse_kinematics_ros.py

from compas.geometry import Frame
from compas_fab.backends import RosClient

with RosClient("localhost") as client:
    robot = client.load_robot()

    frame_WCF = Frame((0.3, 0.1, 0.05), (-1, 0, 0), (0, 1, 0))
    start_configuration = robot.zero_configuration()

    configuration = robot.inverse_kinematics(frame_WCF, start_configuration)

    print("Found configuration", configuration)