Check if inverse_kin is possible

Technical Questions URScript
1

Hi,
Is there a possibility to check whether the inverse_kin of a given pose is possible in URScript.
Something like:

if inverse_kin(pose):
Do sth.
end

Cheers
Friedrich

Well I just solved it myself. You can simply use the is_within_safety_limits() function.

2

image

Yep! Use this function.

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