solve_InvKin()

ndarray ANN_iCub_Interface.iCub.Kinematic_Writer.PyKinematicWriter.solve_InvKin	(		self,
			position,
			blocked_links = ... )

Compute the joint configuration for a given 3D End-Effector position (Inverse Kinematics).

Parameters
----------
position : list
    target cartesian position for the end-effector/hand
blocked_links : list
    links of the kinematic chain, which should be blocked for inverse kinematic in online mode (Default value = [])
    IGNORED in offline mode -> use setter for block links and joint angles

Returns
-------
NDarray
    active joint positions (in radians)

Definition at line 178 of file Kinematic_Writer.pyi.