moveit_msgs/GetConstraintAwarePositionIK Service

File: moveit_msgs/GetConstraintAwarePositionIK.srv

Raw Message Definition

# A service call to carry out an inverse kinematics computation
# The inverse kinematics request
PositionIKRequest ik_request

# A set of constraints that the IK must obey
Constraints constraints

---

# The returned solution 
RobotState solution
MoveItErrorCodes error_code


Compact Message Definition