Get Inverse Kinematics Has Solution
SUMMARY
Get Inverse Kinematics Has Solution queries the robot controller's built-in IK solver to determine whether a valid joint configuration exists for a given Cartesian pose. Returns True if a solution is reachable within the specified tolerance, False otherwise.
Use this skill as a lightweight reachability check before commanding the robot to a target pose.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
has_solution = robot.get_inverse_kinematics_has_solution(pose)The Code
Example: Check IK Reachability for the Current Pose
Use the current TCP pose as the target and check whether an IK solution exists.
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
current_pose = robot.get_cartesian_pose()
logger.info(f"Current Cartesian pose: {current_pose}")
has_solution = robot.get_inverse_kinematics_has_solution(current_pose)
logger.success(f"IK solution exists for current pose: {has_solution}")
# Disconnect
robot.disconnect()The Explanation of the Code
get_inverse_kinematics_has_solution calls the controller's built-in IK solver for the given pose ([x, y, z, rx, ry, rz] in meters and radians) and returns a boolean indicating whether a valid joint configuration was found. The optional qnear parameter biases the solver toward a specific configuration, which is useful for selecting among multiple IK solutions. The tolerance parameters control how closely the solution must match the target pose.
How to Tune the Parameters
| Parameter | Type | Default | Description |
|---|---|---|---|
pose | list[float] | — | Target Cartesian pose [x, y, z, rx, ry, rz] [m, rad]. |
qnear | list[float] | [] | 6-element joint configuration to bias the IK solver toward a preferred solution. |
max_position_error | float | 1e-10 | Maximum acceptable position error [m]. |
max_orientation_error | float | 1e-10 | Maximum acceptable orientation error [rad]. |
Return Value
| Type | Description |
|---|---|
bool | True if a valid IK solution exists within the specified tolerances, False otherwise. |
Where to Use the Skill
- Reachability pre-check — Validate target poses before issuing motion commands to avoid runtime errors
- Path planning — Filter waypoints for reachability before executing a Cartesian path
- Workspace boundary checks — Determine whether a computed pose falls within the robot's reachable workspace
When Not to Use the Skill
Do not use Get Inverse Kinematics Has Solution when:
- You need the actual joint configuration — use Inverse Kinematics to retrieve the full IK solution