get_inverse_kin_has_solution(pose, qnear, maxPositionError=1E-10, maxOrientationError=1e-10, tcp="active

Check if get_inverse_kin has a solution and return boolean (True) or (False).

This can be used to avoid the runtime exception of get_inverse_kin when no solution exists.

Parameters

pose: tool pose

qnear: list of joint positions (Optional)

maxPositionError: the maximum allowed position error (Optional)

maxOrientationError: the maximum allowed orientation error (Optional)

tcp: tcp offset pose (Optional)

Return Value

True if get_inverse_kin has a solution, False otherwise (bool)