simple_ik._simple_ik_ext
Classes
Options struct for simple IK solver. |
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Simple inverse kinematics (IK) solver based on the Jacobian pseudoinverse. |
Module Contents
- class simple_ik._simple_ik_ext.SimpleIkOptions(group_name='', max_iters=100, max_time=0.005, max_restarts=2, step_size=0.25, damping=0.001, max_linear_error_norm=0.001, max_angular_error_norm=0.001, check_collisions=True, fast_return=True)
Options struct for simple IK solver.
- Parameters:
group_name (str)
max_iters (int)
max_time (float)
max_restarts (int)
step_size (float)
damping (float)
max_linear_error_norm (float)
max_angular_error_norm (float)
check_collisions (bool)
fast_return (bool)
- property group_name: str
The joint group name to be used by the solver.
- Return type:
str
- property max_iters: int
Max iterations for one try of the solver.
- Return type:
int
- property max_time: float
Max total computation time, in seconds.
- Return type:
float
- property max_restarts: int
Maximum number of restarts until success.
- Return type:
int
- property step_size: float
The integration step for the solver.
- Return type:
float
- property damping: float
Damping value for the Jacobian pseudoinverse.
- Return type:
float
- property max_linear_error_norm: float
The maximum linear error norm, in meters.
- Return type:
float
- property max_angular_error_norm: float
The maximum angular error norm, in radians.
- Return type:
float
- property check_collisions: bool
Whether to check collisions.
- Return type:
bool
- property fast_return: bool
If true, returns when the first ik solution is found.
- Return type:
bool
- class simple_ik._simple_ik_ext.SimpleIk(scene, options)
Simple inverse kinematics (IK) solver based on the Jacobian pseudoinverse.
- Parameters:
scene (roboplan.core._core_ext.Scene)
options (SimpleIkOptions)
- solveIk(goal: roboplan.core._core_ext.CartesianConfiguration, start: roboplan.core._core_ext.JointConfiguration, solution: roboplan.core._core_ext.JointConfiguration) bool
- solveIk(goals: collections.abc.Sequence[roboplan.core._core_ext.CartesianConfiguration], start: roboplan.core._core_ext.JointConfiguration, solution: roboplan.core._core_ext.JointConfiguration) bool
Solves inverse kinematics (multiple goal).