PR2 Inverse Kinematics

Example script: examples/pr2_inverse_kinematics.py

This example demonstrates inverse kinematics solving with the PR2 robot, including the revert_if_fail parameter.

Source Code

https://github.com/iory/scikit-robot/blob/main/examples/pr2_inverse_kinematics.py

What This Example Shows

Basic IK solving for PR2 right arm
IK visualization during solving
Comparison of revert_if_fail=True vs False
Unreachable target handling

Running the Example

python examples/pr2_inverse_kinematics.py

With different options:

# Use pyrender viewer
python examples/pr2_inverse_kinematics.py --viewer pyrender

# Disable IK visualization
python examples/pr2_inverse_kinematics.py --no-ik-visualization

# Skip revert_if_fail demonstration
python examples/pr2_inverse_kinematics.py --skip-revert-demo

Key Concepts

revert_if_fail Parameter

True (default): Reverts to original joint angles if IK fails
False: Keeps partial progress even if target not fully reached

This is useful when you want to get as close as possible to an unreachable target.